CN109050695B - All-terrain fire-fighting robot and working method - Google Patents
All-terrain fire-fighting robot and working method Download PDFInfo
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- CN109050695B CN109050695B CN201811138551.9A CN201811138551A CN109050695B CN 109050695 B CN109050695 B CN 109050695B CN 201811138551 A CN201811138551 A CN 201811138551A CN 109050695 B CN109050695 B CN 109050695B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
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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
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
The invention discloses an all-terrain fire-fighting robot which comprises an all-terrain moving platform, a fire-fighting water cannon system, a perception interaction system and an electric control system, wherein the all-terrain moving platform is a moving carrier of the robot, is of a crawler-type structure and consists of a shell, a suspension damping assembly, a crawler, a walking wheel train, a chain tensioning assembly, a driving assembly and a crawler tensioning assembly, the fire-fighting water cannon system, the perception interaction system and the electric control system are all arranged on the all-terrain moving platform, and the electric control system is connected with the all-terrain moving platform, the fire-fighting water cannon system and the perception interaction system. The invention not only ensures the airtightness of the robot and improves the waterproof and explosion-proof grade of the robot, but also improves the tensioning and adjusting efficiency of the chain transmission system and the crawler traveling system of the robot and improves the obstacle crossing performance of the robot; the intelligent sensing behavior of the robot to the obstacle is realized, and the interaction capacity of the robot and the environment can be improved.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to an all-terrain fire-fighting robot and a working method.
Background
Fire fighters have many disadvantages in accident scene rescue or reconnaissance such as high-risk fire scene, for example, when facing calamity situations such as inflammable and explosive gas, poisonous and harmful, high temperature and dense smoke, poisoning, burning and even death threats are brought to the fire fighters easily, so more and more robots are gradually replacing the manual work to enter the high-risk scene operation at present.
However, the field environment in scenes such as fire is extremely harsh, including the existence of many obstacles on the ground and in space, which puts high demands on the obstacle crossing performance and obstacle avoidance capability of the robot. At present, a crawler-type mobile chassis is generally adopted as a mobile platform of a fire-fighting robot (comprising a fire-fighting scout robot, a fire-fighting person, a fire-fighting smoke-discharging robot and the like), so that the robot can safely and stably act on a high-risk complex pavement. Therefore, current fire-fighting robotics is mainly concerned with how to avoid obstacles, cross obstacles and cross ditches with higher performance.
In the aspect of how to improve the obstacle crossing capability of the fire-fighting robot, a crawler-type mobile chassis technology is generally adopted, and in the conventional mobile chassis suspension system or suspension technology at present, a driving wheel, a driven wheel and a bearing wheel are generally integrated on a suspension assembly to form an integrated suspension system, and supporting belt wheels are independently arranged on two sides of a robot body and are separated from the suspension system. This suspension configuration can have drawbacks over time and with increasing frequency of use. For example, when the suspension system is repaired and replaced, the supporting belt wheel is separated from the suspension system, so that the replacement is unchanged and the maintenance cost is increased; because the track system can constantly take place deformation in the in-process of marcing, and the separation of riding wheel and suspension system can bring great stroke and load change to suspension system's overspeed device tensioner, influences the climbing ability of crossing obstacles of robot to can greatly increased track risk of droing. For fire-fighting robots with higher protection levels such as explosion-proof robots, the belt supporting wheels and the like are arranged on the robot body, so that the overall waterproof and explosion-proof performance of the robot is increased, and the obstacle crossing and climbing performance of the robot is seriously affected.
The suspension system is the most core and the most key component of the fire-fighting robot moving platform, and the current suspension system is mainly divided into two categories according to structural classification:
(1) wheel train assemblies in the suspension system are independently arranged on two sides of the robot body
In the structure, a driving wheel, a driven wheel, a supporting belt wheel, a bearing wheel and the like in a suspension system are usually fixed on two sides of a central body of the robot through a swing arm or connecting rod structure, and a wheel train system realizes the functions of power transmission, gravity bearing, transmission guiding and the like through a crawler belt. The typical structure or technical scheme is mainly as follows: the invention patent with application number 201610091164.9 discloses a fire-fighting robot and a control method thereof, wherein the fire-fighting robot comprises: the chassis frame is used for bearing and connecting various components; the thrust wheel assembly is arranged below the chassis frame and used for supporting the mass of the whole vehicle; the driving wheel is arranged at the front part of the chassis frame and is positioned above the thrust wheel assembly and used for outputting power; the tensioning wheel is arranged at the rear part of the chassis frame and is positioned above the supporting wheel assembly.
The invention belongs to the scheme, and also discloses an explosion-proof fire-fighting and fire-extinguishing reconnaissance robot with the application number of 201610622972.3, a crawler-type fire-fighting and fire-extinguishing robot operation method with the application number of 201611048497.X, an intelligent remote-control fire-fighting robot with the application number of 201710109232.4, an intelligent remote-control fire-fighting robot with the application number of 201710536881.2, a movable intelligent fire-fighting and fire-extinguishing robot with the application number of 201720459629.1, a fire-fighting robot with the application number of 201720562482.9, and the like.
(2) Wheel train assembly part in suspension system arranged on two sides of robot body
In the structure, more than two driving wheels, driven wheels, supporting wheels, bearing wheels and the like in the suspension system are combined generally, then the driving wheels, the driven wheels, the supporting wheels, the bearing wheels and the like are fixed on a body of a robot suspension assembly through a swing arm or connecting rod structure, a wheel train fixed on the suspension system is connected with the robot body through a shaft on a suspension bracket to generate a power transmission effect, and the wheel train system also realizes the functions of power transmission, gravity bearing, transmission guiding and the like through a crawler. A typical configuration or solution is as follows: application number is 201520714972.7's utility model patent discloses a mobile system for fire-fighting robot, machine case main part, track, set up preceding suspension in the track, alternately hang and hang after with, wherein: the front suspension, the cross suspension and the rear suspension are sequentially connected, and the case main body is connected with an upper guide wheel in the crawler belt through an upper shaft; the front suspension comprises: a front arm, a front middle arm, a front spring, a front guide wheel and a rear guide wheel, wherein the front arm and the front middle arm are connected through a front shaft; the cross suspension comprises: the balance mechanism comprises a cross arm connected through a middle shaft, a middle spring connected with the upper part of the cross arm, a balance arm positioned at the lower part of the cross arm and a balance wheel. The technical scheme of the fire-fighting robot belonging to the mechanism is as follows: the invention discloses a crawler-type fire-fighting robot with the application number of 201610303161.7, a special fire-fighting robot with the application number of 201620549875.1, a novel fire-fighting robot with the application number of 201710315858.0, a crawler-type moving chassis shock absorption mechanism with the application number of 2016202691649 and the like.
In the aspect of improving the obstacle crossing capability of the fire-fighting robot, in order to improve the departure angle of the robot, a direct-drive driving wheel mode is not usually adopted, and the driving wheel needs to be enlarged by adopting the method, so that the requirements on materials and structures are increased, and the requirements on the rotating speed and the torque of a power system are further increased; therefore, a chain indirect transmission mode is generally adopted, the driving wheel is expanded backwards along the machine body, the driving wheel is expanded to the rear of the outer side of the robot body to increase a departure angle, and the capability of crossing the ditch and crossing the obstacle is improved. However, in the power system adopting the chain transmission mode, the chain may be seriously worn due to over-tight factory setting, and the chain is also easy to loosen due to increased use frequency in the use process, so that the problem of slippage and the like is caused. For the track tensioning device, the traditional spring type tensioning device can ensure that the spring changes along with the change of complex working conditions and can not keep a normal tensioning state; and as the service time increases, the spring in the spring type tensioning device can be fatigued, so that the problem of slippage and the like caused by the loosening of the crawler belt can be solved. For heavy robots, this way of tensioning the track or chain is obviously not suitable. The hydraulic cylinder type tensioning device is high in performance, but complex in structure, dependent on a hydraulic system and not beneficial to integrated installation and application of small firefighters.
In the aspect of realizing the tensioning technology of a robot transmission chain or a track, a spring type or hydraulic cylinder type supporting technology is generally adopted: for example, application No. 201721131694.8 discloses an explosion-proof fire-fighting reconnaissance robot track assembly, including track, link, bearing wheel, shock absorber, drive wheel, riding wheel, curb plate, overspeed device tensioner and leading wheel, and link, bearing wheel, shock absorber, drive wheel, riding wheel, curb plate, overspeed device tensioner and leading wheel all set up in the flexible link of track, and the track is connected gradually with leading wheel, bearing wheel, drive wheel and riding wheel, and the one side that overspeed device tensioner kept away from the curb plate is connected with the leading wheel. The tensioning device comprises a compression spring, an adjusting bolt and a telescopic rod, and the tensioning device is matched with the crawler. This type of patent also has a track tensioning mechanism for a track tractor having application number 201710681176.1; a track tensioning device and a track-type walking machine of the invention patent with application number 201711445105.8; the utility model discloses a utility model patent application No. 201720909718.1 a track tensioning device and have device's tracked vehicle and 201310224671.1 track tensioning device and tensioning method etc..
In the aspect of how to improve the obstacle avoidance capability of the robot, a camera is generally arranged above a machine body in the conventional scheme at present, an image acquired by the camera plays a role in width indication, and a fireman judges the approximate direction of the robot and the distance from a front obstacle through a video image returned by the robot so as to realize a rough obstacle avoidance function; or the camera is improved on the basis of the technology to be a mechanism with a holder, and the camera can realize the function of detecting obstacles or fire around the robot. The method is not practical on complex and severe ground and space rescue sites, particularly, the robot is obviously inappropriate to take a braking action only by virtue of experience judgment because of the hysteresis effect of a wireless remote control system, and the robot is very easy to have a collision accident due to misjudgment, so that the emergency rescue process is seriously influenced and the safety of the robot is seriously damaged. The typical technical scheme is as follows: the invention patent with the application number of 201610622972.3 discloses an explosion-proof fire-fighting and fire-extinguishing reconnaissance robot which comprises a fire-fighting robot body and a remote control box, wherein a data acquisition multimedia assembly is arranged on the fire-fighting robot, and the fire-fighting robot carries a sensor, a camera and the like to realize the function of detecting the parameters of the field environment. The patent technology also comprises an invention patent wheel-track transformation mobile chassis with application number 201610677978.0 and a fire-fighting detection robot with the same, an invention patent with application number 201610762662.1 is a fire-fighting robot capable of being remotely controlled, an invention patent with application number 201620549875.1 is a special fire-fighting robot, an invention patent with application number 201710109232.4 is an intelligent remote control fire-fighting robot, an invention patent with application number 201710392265.4 is an efficient fire-fighting robot, and the like.
Disclosure of Invention
The invention aims to provide an all-terrain firefighting robot, wherein a gear train of a crawler-type suspension system is distributed on a whole set of suspension bracket, and the whole suspension is taken as a whole, so that the obstacle crossing performance of the robot is improved; the tensioning function of the suspension system is realized through the track tensioning mechanism and the chain tensioning mechanism, the obstacle crossing, ditch crossing and slope climbing performances of the robot are improved, and the adjusting efficiency of the track tensioning function is improved; an emergency obstacle avoidance sensor is added at the front end of a robot body, so that the robot can intelligently sense the obstacle; the obstacle crossing and obstacle avoiding performance of the robot is comprehensively improved.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides an all-terrain firefighting robot, including all-terrain moving platform, fire water monitor system, perception interactive system, electrical system, all-terrain moving platform is the removal carrier of robot, all-terrain moving platform is crawler-type structure, by the casing, hang damping component, the track, the walking train, chain tensioning assembly, drive assembly, track tensioning assembly constitutes, fire water monitor system, perception interactive system, electrical system all installs on all-terrain moving platform, electrical system and all-terrain moving platform, fire water monitor system, perception interactive system is connected.
The fire water monitor system comprises a monitor body, a monitor head, a vertical angle adjusting mechanism, a transverse angle adjusting mechanism, a jet flow conversion assembly and a self-spraying module; the perception interactive system consists of an obstacle avoidance sensor, a gas detector, a water cannon working condition acquisition camera, a vehicle front position working condition acquisition camera, a vehicle rear position working condition acquisition camera, an environment working condition acquisition camera, an illumination module and a warning module; the electric control system consists of a controller, a driver, a wireless transmission system and an energy module.
Specifically, suspension damping components are fixedly arranged on two sides of the shell, the shell further comprises two sets of foreign matter prevention cover plates, and the foreign matter prevention cover plates are of thin plate structures and are fixed on the outer sides of the suspension damping components through supports;
the suspension shock absorption components are divided into a left suspension framework, a right suspension framework, a driven shaft, a driving shaft, a driven wheel shock absorption plate, a bearing wheel shock absorption plate, a driving wheel shock absorption plate, a driven tensioning shock absorption plate, a driving tensioning shock absorption plate and an elastic element;
the walking wheel system consists of a driving wheel, a driven wheel, a bearing wheel, a supporting belt wheel, a driving gear, a transmission chain, a driven gear and a dustproof cover, the crawler belt is sleeved on a frame consisting of the driving wheel, the driven wheel, the bearing wheel and the supporting belt wheel, and the crawler belt is driven to rotate under the driving action of the driving wheel;
the chain tensioning assemblies are provided with two sets, the front ends of the chain tensioning assemblies are connected with the driving tensioning shock absorption plates, the rear ends of the chain tensioning assemblies are connected with the driving wheel shock absorption plates, and each set of chain tensioning assembly consists of a displacement sliding plate, a tensioning bolt, a position fastening bolt, a main adjusting sliding block, an auxiliary adjusting sliding block, a front baffle, a rear baffle and a side plate;
the driving assembly comprises two sets of driving motors and reduction boxes, the driving motors and the reduction boxes are respectively arranged at the two sides of the inner part of the shell and close to the rear part, a rotating shaft of each driving motor is connected with the reduction boxes, and the output of each reduction box is also connected with a driving shaft;
the structure of the track tensioning assembly is the same as that of the chain tensioning assembly, and the track tensioning assembly also comprises a displacement sliding plate, a tensioning bolt, a position fastening bolt, a main adjusting sliding block, an auxiliary adjusting sliding block, a front baffle, a rear baffle and a side plate, wherein the front end of the track tensioning assembly is connected with a driven wheel damping plate, and the rear end of the track tensioning assembly is connected with a driven tensioning damping plate.
Specifically, the suspension framework is a sheet-shaped mechanism, and every two sheets of the suspension framework form a framework structure and are used for mounting a driven shaft, a driving shaft, a driven wheel damping plate, a bearing wheel damping plate and a driving wheel damping plate;
the driven shaft is arranged at the joint of the driven tensioning shock absorption plate and the suspension framework, and is fixedly inserted into the shell to be used for fixing the suspension framework and serving as a first fulcrum for connecting the suspension framework and the shell;
the driving shaft is arranged at the joint of the driving tensioning shock absorption plate and the suspension framework, is also fixed on the shell and is used for fixing the suspension framework and serving as a second fulcrum for connecting the suspension framework and the shell, and meanwhile, the driving shaft is also used as a power output shaft of the robot to be connected with the driving gear;
the driven wheel damping plate is an inclined T-shaped plate, the front end of the driven wheel damping plate is connected with the driven wheel, and the rear end of the driven wheel damping plate is connected with the driven tensioning damping plate through a track tensioning assembly;
the bearing wheel damping plate comprises two crossed plates which are crossed into an X shape, the two crossed plates are connected through a rotating shaft, the lower ends of the two crossed plates are both provided with bearing wheels, and an elastic element is arranged between the upper ends of the two crossed plates;
the driving wheel damping plate is a groove-shaped plate, the front end of the driving wheel damping plate is connected with the driving tensioning damping plate through a chain tensioning assembly, and the rear end of the driving wheel damping plate is provided with a driving wheel;
the driven tensioning shock-absorbing plate is a sickle plate, the front end of the driven tensioning shock-absorbing plate is connected with a track tensioning assembly, the rear end of the driven tensioning shock-absorbing plate is connected with a suspension framework through a driven shaft, and the upper end of the driven tensioning shock-absorbing plate is also connected with the suspension framework through an elastic element to form a shock-absorbing system;
the driving tensioning shock absorption plate is a strip-shaped plate, the front end of the driving tensioning shock absorption plate is connected with the suspension framework through an elastic element, the middle of the driving tensioning shock absorption plate penetrates through the driving shaft, and the rear end of the driving tensioning shock absorption plate is connected with the driving wheel shock absorption plate through the chain tensioning assembly.
Specifically, the driving wheel is of a gear structure, the driving wheel is arranged at the rear end of the driving wheel damping plate through a rotating shaft, a driven gear is further arranged on the outer side of the driving wheel, and the driving wheel and the driven gear are arranged on the same rotating shaft;
the driven wheel is of a double-row four-wheel structure and is arranged at the front end of the driven wheel damping plate;
the bearing wheel is of a single-row double-wheel structure and is arranged at the lower end of the bearing wheel damping plate;
the supporting belt wheel is of a double-row single-wheel structure and is arranged at the topmost end of the suspension framework;
the driving gear is arranged on the outermost side of the driving shaft, a transmission chain is sleeved between the driving gear and the driven gear, and the driving gear rotates along with the driving shaft to drive the transmission chain to rotate, further drive the driven gear to rotate and finally drive the driving wheel to rotate;
the shield is annular wheel-like, and inside is provided with the round notch that is used for holding the train pivot, and the shield outside edge evenly is provided with four screws along the circumferencial direction for fixed train, shield are respectively through the bolt fastening at the drive wheel, from driving wheel and hold in the palm on the band pulley.
Specifically, each chain tensioning assembly comprises two displacement sliding plates which are symmetrically arranged on two sides of the front end of the driving wheel damping plate, each displacement sliding plate is a square plate, and notches and through holes are formed in four corners of each displacement sliding plate and used for penetrating through tensioning bolts and position fastening bolts;
the number of the tensioning bolts is one, the tensioning bolts penetrate through the two displacement sliding plates on the two sides of the front end of the driving wheel damping plate and are fixed in a closed mode through nuts;
the number of the position fastening bolts is three, the position fastening bolts penetrate through the two displacement sliding plates on the two sides of the front end of the driving wheel damping plate and are fixedly connected with the threaded holes in the side plates;
the position fastening bolt is also sleeved with a sleeve for sleeving and driving the tensioning shock absorption plate;
the main adjusting sliding block is a trapezoidal sliding block, a through hole is formed in the middle of the main adjusting sliding block, a thread matched with the tensioning bolt is arranged in the through hole, the main adjusting sliding block is sleeved on the tensioning bolt, and the inclined surface of the main adjusting sliding block is in contact fit with the inclined surface of the auxiliary adjusting sliding block;
the auxiliary adjusting slide block is a trapezoidal slide block, a through hole is formed in the end face of the rear end of the auxiliary adjusting slide block, the diameter of the through hole is larger than that of the position fastening bolt, the front end of the auxiliary adjusting slide block is in contact with and connected with the front baffle, and the auxiliary adjusting slide block slides forwards and backwards to drive the front baffle to move forwards and backwards;
the front baffle is a square plate, is perpendicular to the displacement sliding plate and spans between the driving tensioning shock-absorbing plates, threaded holes are formed in the inner parts of two sides of the front baffle in the thickness direction, the outer side of the front baffle is matched with a mounting position to fasten a bolt, and the inner side of the front baffle is connected with the fixed side plate through the bolt;
the structure and the shape of the rear baffle are the same as those of the front baffle, the rear baffle is perpendicular to the displacement sliding plate and spans between the driving wheel damping plates, and the outside of the rear baffle is fixed with the driving wheel damping plates through bolts;
the side plate is a triangular plate, three threaded holes are formed in the side plate, and the side plate is matched with the position fastening bolts to be installed.
The gun body is of a tubular structure and is arranged on the shell after being bent, the rear end of the gun body is connected with the water inlet, the front end of the gun body is connected with the gun head, the vertical angle adjusting mechanism comprises a manual mode and an automatic adjusting mode, the vertical angle adjusting mechanism is arranged behind the gun head and is connected with the gun body, the transverse angle adjusting mechanism also comprises a manual mode and an automatic mode, the transverse angle adjusting mechanism is arranged behind the vertical angle adjusting mechanism, the jet flow conversion assembly also comprises a manual mode and an automatic mode and is arranged between the gun head and the vertical angle adjusting mechanism, the self-spraying module is fixedly arranged at the topmost end of the gun body and directly penetrates through the inner wall of a pipeline where the gun body is arranged, and the self-spraying module is provided with a relay module and can be automatically opened and closed;
specifically, keep away the foremost of barrier sensor installation at the casing, gas detection appearance sets up in the casing top, water cannon operating mode collection camera is installed on the big gun head of fire control water cannon system, position operating mode collection camera installs in the casing front side before the car, position operating mode collection camera installs the rear side at the casing behind the car, environment operating mode collection camera is the camera that possesses two-dimentional cloud platform function, environment operating mode collection camera sets up the top at fire control water cannon system, lighting module contains a plurality ofly, set up place ahead and the rear at the casing respectively, warning module includes warning light and alarm whistle, fix on the casing, keep away the barrier sensor, gas detection appearance, water cannon operating mode collection camera, position operating mode collection camera before the car, position operating mode collection camera behind the car, environment operating mode collection camera, lighting module, warning module all is connected with electrical system.
The controller is a control, analysis and decision center of the robot and is connected with a driver, a wireless transmission system and a perception interaction system, the controller performs information transmission and interaction with an upper computer console through the wireless transmission system, the driver is respectively connected with a driving motor, a vertical angle adjusting mechanism, a transverse angle adjusting mechanism, a jet flow conversion assembly and an automatic spray module, the driving motor in the driving assembly is driven to operate, the vertical angle adjusting mechanism and the transverse angle adjusting mechanism in the fire monitor system are driven to perform angle conversion, and the jet flow conversion assembly and the automatic spray module are driven to perform jet flow form conversion and start and stop of spraying; the energy module is connected with and supplies power for electrical appliances in the robot.
Meanwhile, based on the all-terrain fire-fighting robot, the invention also provides a working method of the all-terrain fire-fighting robot, which comprises the following specific working steps:
(1) the all-terrain fire-fighting robot moves and avoids obstacles:
1) the all-terrain fire-fighting robot moves:
a wireless transmission system in the electric control system receives a control instruction from an upper computer console and sends the instruction to the controller, the controller analyzes and decides the control instruction and transmits the control instruction to the driver, and the driver drives a driving motor in the driving assembly to rotate, so that the all-terrain fire-fighting robot moves.
2) Obstacle avoidance steps of the all-terrain fire-fighting robot:
when the robot is in the process of traveling, the controller controls the obstacle avoidance sensor in the sensing system in real time to detect the obstacle in front of the robot in real time, and the obstacle avoidance sensor transmits the detected obstacle information back to the controller in real time, so that the robot can stop emergently when encountering the obstacle.
Preferably, when the obstacle avoidance sensor in the sensing system detects that an obstacle exists in front of the robot in real time, the controller can also control the robot to avoid the obstacle and detour according to the size of the obstacle.
(2) The method comprises the following steps of (1) reconnaissance and fire extinguishing of the all-terrain fire-fighting robot:
1) reconnaissance of all-terrain fire-fighting robots:
the controller controls the gas detector, the water cannon working condition acquisition camera, the front position working condition acquisition camera, the rear position working condition acquisition camera, the environment working condition acquisition camera and the illumination module in the sensing system to work in real time, wherein the gas detector transmits the parameters of special gas in the surrounding environment of the robot to the controller, the water cannon working condition acquisition camera, the front working condition acquisition camera and the rear working condition acquisition camera respectively acquire images or videos of the environments in front of the water cannon and in front of and behind the body of the robot, and sends the collected information to the controller, the environment working condition collection camera collects the image or video information of the environment in the three-dimensional space around the robot in real time and sends the image or video information to the controller, and then the acquired image or video information is transmitted to an upper computer console through a wireless transmission system, so that fire fighters can observe the field environment and decide control decisions.
Preferably, in order to improve the external illumination condition when the robot collects the ambient environment parameters, the controller can also control the illumination module to work, improve the illumination brightness when the water cannon working condition collection camera, the front position working condition collection camera, the rear position working condition collection camera and the environment working condition collection camera are collected, and simultaneously provide a highlight environment for the rescue process.
2) Fire extinguishing by the all-terrain fire-fighting robot:
when a fire water monitor system on the fire-fighting robot starts to work, the monitor head starts to spray, the controller controls the driver to work, the driver drives the vertical angle adjusting mechanism and the transverse angle adjusting mechanism to respectively adjust the transverse angle and the vertical angle, so that water flow falls into a fire-fighting area, meanwhile, the controller controls the driver to work, the driver drives the jet flow transformation assembly to work, and transformation of a spray form is realized.
Preferably, when the fire is great, the jet flow conversion assembly works to change the jetted water flow into a water column type to intensively extinguish fire; when the field dense smoke is large, the jet flow conversion assembly works to change the sprayed water flow into a water mist type for smoke elimination.
Preferably, in the process, according to the field requirement, the controller controls the self-spraying module to work, the self-spraying module sprays, an annular water curtain is formed around the robot to cool the robot body, and the safety of the robot in a high-temperature environment is guaranteed.
(3) Tensioning a chain and a track of the all-terrain fire-fighting robot:
after the fire-fighting robot leaves the factory or works for a period of time, the transmission chain in the walking wheel train can generate the problem of over-tightness or looseness, and the adjusting process is as follows: the adjusting device comprises a driving wheel damping plate, a driving chain, a driven gear, a position fastening bolt, a tensioning bolt, a main adjusting sliding block, a secondary adjusting sliding block, a sleeve, a driving tensioning damping plate, a displacement sliding plate and a driving wheel damping plate, wherein the driving tensioning damping plate is sleeved on the sleeve, the position fastening bolt is loosened, the tensioning bolt is properly adjusted, the tensioning bolt can drive the main adjusting sliding block to move relative to the secondary adjusting sliding block, the sleeve sleeved with the position fastening bolt is driven to move, the driving tensioning damping plate on the sleeve is driven to move, the adjustment of the distance between the driving tensioning damping plate and the displacement sliding plate is indirectly achieved, the displacement sliding plate is connected with the driving wheel damping plate, the adjustment of the distance between the driving wheel damping plate and the driving tensioning damping plate is finally achieved, the driving chain sleeved on the driving gear and the driven gear can be loosened or tensioned according to the adjustment, and the position fastening bolt is tightened to be positioned after the adjustment is completed.
The track tensioning assembly is operated in steps consistent with the operation of the chain tensioning assembly. The track tensioning assembly can realize right the tensioning function of track guarantees the rotation efficiency of track among the robot walking process, avoids the track slippage problem simultaneously, and then guarantees the motion security of robot in adverse circumstances.
The invention has the following beneficial effects:
(1) according to the invention, the wheel train of the crawler-type suspension system is distributed on the whole set of suspension bracket, and the whole suspension is taken as a whole, so that the airtightness of the robot is ensured, the waterproof and explosion-proof grade of the robot is improved, and the obstacle crossing performance of the robot is also greatly improved.
(2) The tensioning function of the suspension system is realized through the track tensioning mechanism and the chain tensioning mechanism, the tensioning adjusting efficiency of the robot chain transmission system and the track advancing system is improved, the obstacle crossing, ditch crossing and slope climbing performances of the robot are further improved, meanwhile, the working difficulty of tensioning adjustment of the track and the chain is reduced, and the parameter correction adjusting efficiency of the robot is improved.
(3) The front end of the robot body is provided with the emergency obstacle avoidance sensor, so that the intelligent sensing behavior of the robot to the obstacle is realized, the obstacle crossing and obstacle avoidance performance of the robot is comprehensively improved, the interaction capacity of the robot and the environment can be improved, the subsequent full-automatic intelligent motion capacity of the robot is favorably improved, and the development trend of artificial intelligence is met.
Drawings
Fig. 1 is a schematic perspective view of an all-terrain firefighting robot according to the present invention.
Fig. 2 is a schematic front view of the all-terrain firefighting robot of the present invention.
Fig. 3 is a left side view structural schematic diagram of the all-terrain firefighting robot of the present invention.
Fig. 4 is a schematic right-view structural diagram of the all-terrain firefighting robot of the present invention.
Fig. 5 is a rear view structural schematic diagram of the all-terrain firefighting robot of the present invention.
Fig. 6 is a schematic bottom view of the all-terrain firefighting robot of the present invention.
Fig. 7 is a schematic front view of the all-terrain firefighting robot with the foreign matter prevention cover plate removed.
Fig. 8 is a partially enlarged schematic view of a driving assembly and an electric control system of the all-terrain fire-fighting robot.
Fig. 9 is a front view structural schematic diagram of a suspension shock-absorbing assembly of the all-terrain firefighting robot.
Fig. 10 is a left side view structural schematic diagram of a suspension shock-absorbing assembly of the all-terrain firefighting robot.
Detailed Description
The following are specific examples of the present invention and further describe the technical solutions of the present invention, but the scope of the present invention is not limited to these examples. All changes, modifications and equivalents that do not depart from the spirit of the invention are intended to be included within the scope thereof.
As shown in fig. 1 to 10, an all-terrain fire-fighting robot includes an all-terrain moving platform 100, a fire-fighting water monitor system 200, a perception interaction system 300, and an electric control system 400, wherein the fire-fighting water monitor system 200, the perception interaction system 300, and the electric control system 400 are all installed on the all-terrain moving platform 100, and the electric control system 400 is connected with the all-terrain moving platform 100, the fire-fighting water monitor system 200, and the perception interaction system 300.
The all-terrain mobile platform 100 is a mobile carrier of the robot, and is a basis for determining the realization of flexible and reliable movement of the robot in high-risk complex ground. The all-terrain mobile platform 100 is of a crawler-type structure and comprises a shell 110, a suspension shock-absorbing assembly 120, a crawler 130, a walking wheel train 140, a chain tensioning assembly 150, a driving assembly 160 and a crawler tensioning assembly 170.
Casing 110 is many structures, and both sides installation is fixed with and hangs damper 120, and casing 110 still contains two sets and prevents foreign matter apron 111, prevents that foreign matter apron 111 is the sheet structure, and the appearance laminating hang skeleton 121, fix in hanging damper 120 outside through the support for the protection hangs damper 120, avoids outside foreign matter to get into and leads to robot transmission and rotation trouble.
The suspension shock absorption assembly 120 is divided into a left suspension frame 121, a right suspension frame 122, a driving shaft 123, a driven wheel shock absorption plate 124, a bearing wheel shock absorption plate 125, a driving wheel shock absorption plate 126, a driven tensioning shock absorption plate 127, a driving tensioning shock absorption plate 128 and an elastic element 129.
The suspension frame 121 is a sheet-shaped mechanism, and each two sheets form a frame structure for mounting the driven shaft 122, the driving shaft 123, the driven wheel damping plate 124, the bearing wheel damping plate 125 and the driving wheel damping plate 126.
The driven shaft 122 is arranged at the joint of the driven tensioning shock absorption plate 127 and the suspension framework 121, and the driven shaft 122 is further inserted and fixed on the shell 110 to fix and position the suspension framework 121 and serve as a first fulcrum for connecting the suspension framework 121 and the shell 110.
The driving shaft 123 is disposed at the joint of the driving tension damper plate 128 and the suspension frame 121, the driving shaft 123 is also fixed on the housing 110 to fix and position the suspension frame 121 and serve as a second fulcrum for connecting the suspension frame 121 and the housing 110, and the driving shaft 123 also serves as a power output shaft of the robot and is connected with the driving gear 145.
The driven wheel damper plate 124 is a slanted T-shaped plate having a front end connected to the driven wheel 142 and a rear end connected to the driven tension damper plate 127 via a track tension assembly 170.
The bearing wheel damping plate 125 comprises two crossed plates crossed into an X shape, the two crossed plates are connected through a rotating shaft, the lower ends of the two crossed plates are both provided with bearing wheels 143, and an elastic element 129 is arranged between the upper ends of the two crossed plates.
The driving wheel damper plate 126 is a groove-shaped plate, the front end of which is connected to the driving tension damper plate 128 via a chain tension assembly 150, and the rear end of which is provided with a driving wheel 141.
The driven tensioning shock absorption plate 127 is a sickle plate, the front end of the driven tensioning shock absorption plate is connected with a track tensioning assembly 170, the rear end of the driven tensioning shock absorption plate is connected with the suspension framework 121 through a driven shaft 122, the upper end of the driven tensioning shock absorption plate 127 is connected with the suspension framework 121 through an elastic element 129 to form a shock absorption system, and therefore the driven wheel 142 and the shock absorption function between the suspension frameworks 121 are achieved.
The driving tensioning shock-absorbing plate 128 is a strip-shaped plate, and the front end of the driving tensioning shock-absorbing plate is connected with the suspension framework 121 through an elastic element 129, so that the shock-absorbing and shock-absorbing functions between the driving wheel 141 and the suspension framework 121 are realized; the middle passes through the drive shaft 123 and the rear end is connected to the drive wheel damper plate 126 via the chain tensioner assembly 150.
The elastic elements 129 are six in number, and three on the left and the right are respectively arranged between the suspension framework 121 and the driven tensioning shock absorption plate 127, between the suspension framework 121 and the driving tensioning shock absorption plate 128 and on the bearing wheel shock absorption plate 125.
The number of the crawler belts 130 is two, the crawler belt 130 is sleeved on a frame composed of a driving wheel 141, a driven wheel 142, a bearing wheel 143 and a riding wheel 144, and the crawler belt 130 is driven to rotate by the driving action of the driving wheel 141, so that the movement function of the robot is realized.
The walking wheel train 140 is composed of a driving wheel 141, a driven wheel 142, a bearing wheel 143, a supporting wheel 144, a driving gear 145, a transmission chain 146, a driven gear 147 and a dust cover 148, and mainly assists in achieving the walking function of the robot.
The driving wheel 141 is of a gear structure and can be matched with an internal gear to be matched with the crawler 130 to realize the rotation function of dragging the crawler 130, the driving wheel 141 is arranged at the rear end of the driving wheel damping plate 126 through a rotating shaft, a driven gear 147 is further arranged on the outer side of the driving wheel 141, the driving wheel 141 and the driven gear 147 are arranged on the same rotating shaft, and the rotating speeds of the driving wheel 141 and the driven gear 147 are synchronous.
The driven wheel 142 is of a double-row four-wheel structure and is arranged at the front end of the driven wheel damping plate 124, so that the driven transmission effect on the crawler 130 is realized.
The bearing wheel 143 is a single-row double-wheel structure and is arranged at the lower end of the bearing wheel damping plate 125 to realize the function of bearing the vehicle body.
The carrier wheel 144 is a double-row single-wheel structure and is arranged at the topmost end of the suspension framework 121 to realize the rotation function of the passive dragging crawler.
The driving gear 145 is arranged on the outermost side of the driving shaft 123, a transmission chain 146 is sleeved between the driving gear 145 and the driven gear 147, the driving gear 145 rotates along with the driving shaft 123 to drive the transmission chain 146 to rotate, the driven gear 147 is further driven to rotate, and finally the driving wheel 141 is driven to rotate, so that power transmission is achieved.
The dust cover 148 is annular and wheel-shaped, a round notch for accommodating a wheel train rotating shaft is formed in the dust cover 148, four screw holes are uniformly formed in the outer edge of the dust cover 148 along the circumferential direction and used for fixing the wheel train, and the number of the dust cover 148 is twelve, and the dust cover 148 is fixed on the driving wheel 141, the driven wheel 142 and the carrier wheel 144 through bolts respectively. The dust cover 148 mainly prevents external foreign matters from entering the rotating shafts of the driving wheel 141, the driven wheel 142 and the supporting wheel 144 to cause mechanical rotation failure, so that the robot is more suitable for the environment with winding, foreign matters and obstacles outside.
The chain tensioning assemblies 150 are provided with two sets, the front ends of the chain tensioning assemblies 150 are connected with the driving tensioning shock absorption plates 128, the rear ends of the chain tensioning assemblies 150 are connected with the driving wheel shock absorption plates 126, and each set of chain tensioning assembly 150 consists of a displacement sliding plate 151, a tensioning bolt 152, a position fastening bolt 153, a main adjusting sliding block 154, an auxiliary adjusting sliding block 155, a front baffle 156, a rear baffle 157 and a side plate 158; the chain tensioning assembly 150 can perform a tensioning function for the drive chain 146 between the drive gear 145 and the driven gear 147.
Each chain tensioning assembly 150 comprises two displacement sliding plates 151 symmetrically arranged on two sides of the front end of the driving wheel damping plate 126, each displacement sliding plate 151 is a square plate, and four corners are provided with notches and through holes for penetrating through a tensioning bolt 152 and a position fastening bolt 153.
The number of the tension bolts 152 is one, and the tension bolts 152 penetrate through the two displacement slide plates 151 on both sides of the front end of the driving wheel damping plate 126 and are fastened by nuts.
The number of the position fastening bolts 153 is three, and the position fastening bolts 153 are installed in a similar manner to the tensioning bolts 152, and two displacement sliding plates 151 penetrating through both sides of the front end of the driving wheel damping plate 126 at positions close to the position fastening bolts 153 are fixedly connected with threaded holes on the side plate 158. Unlike the tension bolt 152, a sleeve is also received on the position-fastening bolt 153 to receive the drive tension damper plate 128. The position fastening bolt 153 and the tension bolt 152 are installed in a rectangular shape in a side view, while the tension bolt 152 penetrates through the through hole of the displacement slide plate 151, and the position fastening bolt 153 penetrates through the slot hole of the displacement slide plate 151. The effect is that the position of the tensioning bolt 152 is fixed relative to the displacement slide plate 151 and the drive wheel damper plate 126, while the position of the position fastening bolt 153 is movable relative to the displacement slide plate 151 and the drive wheel damper plate 126 along the slot holes, i.e.: when the position fastening bolt 153 is relatively loose with its matched nut, and the position fastening bolt 153 is pushed by the outside, it can slide along the slot hole in the displacement sliding plate 151, and finally can drive the sleeve sleeved with the position fastening bolt 153 and the driving tension shock-absorbing plate 128 on the sleeve to move, thereby indirectly realizing the function of adjusting the distance between the driving tension shock-absorbing plate 128 and the displacement sliding plate 151, and because the displacement sliding plate 151 is also connected with the driving wheel shock-absorbing plate 126, the function of adjusting the distance between the driving wheel shock-absorbing plate 126 and the driving tension shock-absorbing plate 128 can be finally realized.
The main adjusting sliding block 154 is a trapezoidal sliding block, a through hole is formed in the middle of the main adjusting sliding block, a thread matched with the tensioning bolt 152 is arranged in the through hole, the main adjusting sliding block 154 is sleeved on the tensioning bolt 152, the inclined surface is in contact fit with the inclined surface of the auxiliary adjusting sliding block 155, and the effect is that: when the tension bolt 152 is rotated in the forward or reverse direction, the main regulation slider 154 is moved forward or backward in the axial direction of the tension bolt 152, and the main regulation slider 154 is moved forward or backward in the direction perpendicular to the axial direction of the tension bolt 152. Because the inclined surfaces between the main adjusting slider 154 and the auxiliary adjusting slider 155 are in mutual matching contact, the auxiliary adjusting slider 155 is driven to move back and forth along the direction perpendicular to the axis of the tensioning bolt 152, and further the front baffle 156 connected with the auxiliary adjusting slider 155 is driven to move back and forth, and finally the driving tensioning shock absorbing plate 128 is driven to move forward.
The auxiliary adjusting slider 155 is a trapezoidal slider, a through hole is formed in the end face of the rear end, the diameter of the through hole is larger than that of the position fastening bolt 153, the front end of the auxiliary adjusting slider 155 is in contact with and connected with the front baffle 156, and the auxiliary adjusting slider 155 slides forwards and backwards to drive the front baffle 156 to move forwards and backwards.
Preceding baffle 156 is square board, perpendicular to displacement slide 151 to span between drive tensioning shock absorber plate 128, on the preceding baffle thickness direction, the inside of both sides all is provided with the screw hole, wherein outside cooperation mounted position fastening bolt 153, inboard then through bolted connection fixed curb plate 158, the effect is: the front stop plate 156 is movable in response to movement of the drive tension suspension plate 128 by virtue of its connection to the side plate 158.
The rear baffle 157 is identical in structure and shape to the front baffle 156, the rear baffle 157 is perpendicular to the displacement slide plate 151 and spans between the driving wheel damper plates 126, and the outside is fixed to the driving wheel damper plates 126 by bolts.
The side plate 158 is a triangular plate, and three threaded holes are formed in the side plate and are respectively matched with the position fastening bolts 153 for installation.
The driving assembly 160 comprises a driving motor 161 and a reduction gearbox 162, the driving motor 161 and the reduction gearbox 162 are respectively arranged at the two sides of the interior of the shell 110 and close to the rear part, a rotating shaft of the driving motor 161 is connected with the reduction gearbox 162, and the output of the reduction gearbox 162 is also connected with the driving shaft 123; the driving assembly 160 realizes the function of moving and walking the robot.
The track tensioning assembly 170 can achieve the tensioning function of the track 130, ensure the rotation efficiency of the track in the walking process of the robot, and avoid the problem of slipping of the track, thereby ensuring the motion safety of the robot in a severe environment. The track tensioning assembly 170 has the same structure as the chain tensioning assembly 150, and is composed of a displacement slide plate, a tensioning bolt, a position fastening bolt, a main adjusting slide block, an auxiliary adjusting slide block, a front baffle plate, a rear baffle plate and side plates. The track tensioning assembly 170 is sized differently than the chain tensioning assembly 150, the chain tensioning assembly 150 being designed to cooperate with the chain tensioning function, and the track tensioning assembly 170 being a mechanism designed to cooperate with the track tensioning function. The chain tensioner assembly 150 has a drive tension shoe 128 attached to the front end and a drive wheel shoe 126 attached to the rear end; while track tensioning assembly 170 is connected at a front end to driven wheel damper plate 124 and at a rear end to driven tensioning damper plate 127.
The fire water monitor system 200 is a tool for realizing fire fighting, and the fire water monitor system 200 is composed of a monitor body 210, a monitor head 220, a vertical angle adjusting mechanism 230, a horizontal angle adjusting mechanism 240, a jet flow conversion assembly 250 and an automatic spraying module 260.
The gun body 210 is of a tubular structure and is arranged on the shell 110 after being bent, the rear end of the gun body 210 is connected with the water inlet, the front end of the gun body is connected with the gun head 220, and the gun head 220 can realize the water flow guiding effect.
The vertical angle adjusting mechanism 230 can realize the function of adjusting the vertical angle of the gun head 220, and comprises two modes of manual adjustment and automatic adjustment, and the vertical angle adjusting mechanism 230 is arranged behind the gun head 220 and is connected with the gun body 210.
The transverse angle adjusting mechanism 240 can realize the function of adjusting the angle of the whole body formed by the gun head 220 and the vertical angle adjusting mechanism 230 in the horizontal direction, and also comprises a manual mode and an automatic mode, and the transverse angle adjusting mechanism 240 is arranged behind the vertical angle adjusting mechanism 230.
The jet flow conversion assembly 250 can realize the function of module conversion of jet of water flow jetted by the gun head 220, can realize the functions of water flow jet, water mist jet and the like, also comprises a manual mode and an automatic mode, and is arranged between the gun head 220 and the vertical angle adjusting mechanism 230.
From spraying module 260 installation and fixing in big gun body 210 topmost department, thereby and from spraying the pipeline inner wall that module 260 directly runs through big gun body 210 place and realize the water intaking function, from spraying and drenching from taking the relay module on the module 260, can realize automatic opening and shutting, thereby realize getting the water function from big gun body 210, realize from spraying and drenching the function, for the robot cooling, guarantee the security and the stability of robot work, make the robot be fit for environment such as high temperature more.
The perception interactive system 300 is a medium for realizing acquisition of surrounding environment parameters and interaction between the robot and the surrounding environment and people, and comprises an obstacle avoidance sensor 310, a gas detector 320, a water cannon working condition acquisition camera 330, a vehicle front position working condition acquisition camera 340, a vehicle rear position working condition acquisition camera 350, an environment working condition acquisition camera 360, an illumination module 370 and a warning module 380.
The obstacle avoidance sensor 310 is installed at the foremost end of the housing 110, so that the function of sensing obstacles in front of the robot is realized, and electrically, the obstacle avoidance sensor 310 is further connected with the controller 410, so that sensed environmental obstacle parameters are sent to the controller 410 for analysis and decision-making, and especially when the robot rapidly moves forward, the obstacle avoidance sensor 310 plays key roles of early warning, early emergency stop and the like.
The gas detector 320 is arranged above the shell 110, and can realize real-time detection of specific gas parameters in the environment. The gas detector 320 is also coupled to a controller 410 that can send the detected gas parameters to the controller for analysis reference. Preferably, the gas detector 320 may be a single gas detection sensor or a plurality of gas detection sensors, and the specific matching is based on the actual on-site detection requirement.
Water cannon operating mode collection camera 330 is installed on the big gun head 220 of fire water cannon system 200, position operating mode collection camera 340 is installed in the casing 110 front side in the plantago, position operating mode collection camera 350 is installed in the rear side of casing 110 behind the car, position operating mode collection camera 330 in the water cannon, position operating mode collection camera 340 in the plantago and position operating mode collection camera 350 behind the car realize respectively to fire water cannon system 200, the environmental image and the video parameter acquisition function in robot place ahead and rear, position operating mode collection camera 330 in the water cannon, position operating mode collection camera 340 in the plantago and position operating mode collection camera 350 behind the car all connect electrical system 400 and can pass through wireless transmission system 430 with the image and the video information of gathering and send to the host computer control cabinet and supply the fire fighter to look over.
The environmental condition acquisition camera 360 is a camera with a two-dimensional pan-tilt function, the environmental condition acquisition camera 360 is arranged above the fire water monitor system 200, and can acquire the surrounding environment condition of the position of the robot in real time and send the surrounding environment condition to an upper computer console through an electric control system 400 connected with the robot.
The plurality of lighting modules 370 are respectively arranged in front of and behind the shell 110 to realize the function of illuminating the robot for exploring the road, and the lighting modules 370 are further connected with the electric control system 400 to realize the functions of control and power supply.
The warning module 380 comprises a warning lamp and a warning whistle, is fixed on the shell 110 and plays a role in warning in the rescue process, and the warning module 380 is further connected with the electric control system 400, so that the control and power supply functions are realized.
The electric control system 400 is a driving, controlling and decision center for realizing the functions of robot walking, environment sensing, man-machine interaction and the like, and the electric control system 400 is composed of a controller 410, a driver 420, a wireless transmission system 430 and an energy module 440.
The controller 410 is a control, analysis and decision center of the robot, and is connected with devices to be controlled, such as the driver 420, the wireless transmission system 430, and various sensors in the perception interaction system 300. The controller 410 also receives a control signal from the upper computer console through the wireless transmission system 430, thereby implementing functions such as control and driving of the robot.
The driver 420 mainly realizes the motor driving function of the all-terrain mobile platform 100 and the fire water monitor system 200, the driver 420 is respectively connected with the driving motor 161, the vertical angle adjusting mechanism 230, the transverse angle adjusting mechanism 240, the jet conversion assembly 250 and the self-spraying module 260, the driving motor 161 in the driving assembly 160 operates, the vertical angle adjusting mechanism 230 and the transverse angle adjusting mechanism 240 in the fire water monitor system 200 are driven to carry out angle conversion, and the jet conversion assembly 250 and the self-spraying module 260 are driven to carry out jet form conversion and start and stop of spraying.
The wireless transmission system 430 mainly realizes the information transmission and interaction functions between the robot and the upper computer console, and mainly includes: the wireless transmission system 430 can transmit the parameter information acquired by itself, the state parameters of the robot itself and the like to the console of the upper computer, and can also receive the control information from the console of the upper computer and transmit the control information to the controller 410 for the robot to perform instruction analysis, judgment, drive control and the like.
The energy module 440 mainly provides electric energy for the movement of the robot and the operation of the fire fighting system, and the energy module 440 is connected with and supplies power to electrical devices in the robot, such as the electrical control system 400, the all-terrain mobile platform 100 and the electrical devices in the fire monitor system 200.
The invention also provides a working method of the all-terrain fire-fighting robot, which comprises the following specific working steps:
(1) the all-terrain fire-fighting robot moves and avoids obstacles:
1) the all-terrain fire-fighting robot moves:
the wireless transmission system 430 in the electronic control system 400 receives a control instruction from the upper computer console and sends the instruction to the controller 410, the controller 410 analyzes and decides the control instruction and transmits the control instruction to the driver 420, and the driver 420 drives the driving motor 161 in the driving assembly 160 to rotate, so that the all-terrain fire-fighting robot can move.
2) Obstacle avoidance steps of the all-terrain fire-fighting robot:
when the robot is in the process of traveling, the controller 410 controls the obstacle avoidance sensor 310 in the sensing system 300 to detect an obstacle in front of the robot in real time, and the obstacle avoidance sensor 310 transmits the detected obstacle information back to the controller 410 in real time, so that the robot can stop emergently when encountering the obstacle.
Preferably, when the obstacle avoidance sensor 310 in the sensing system 300 detects that there is an obstacle in front of the robot in real time, the controller 410 can also control the robot to avoid the obstacle and detour according to the size of the obstacle.
(2) The method comprises the following steps of (1) reconnaissance and fire extinguishing of the all-terrain fire-fighting robot:
1) reconnaissance of all-terrain fire-fighting robots:
the controller 410 controls the gas detector 320, the water cannon working condition acquisition camera 330, the front position working condition acquisition camera 340, the rear position working condition acquisition camera 350, the environment working condition acquisition camera 360 and the illumination module 370 in the sensing system 300 to work in real time, wherein the gas detector 320 transmits parameters of special gas in the surrounding environment of the robot to the controller 410, the water cannon working condition acquisition camera 330, the front position working condition acquisition camera 340 and the rear position working condition acquisition camera 350 respectively acquire images or videos of the environments in front of the water cannon and in front of and behind the body of the robot and transmit the acquired information to the controller 410, the environment working condition acquisition camera 360 acquires images or video information of the environment in the three-dimensional space around the robot in real time varying angles and transmits the acquired images or video information to the controller 410, and then the acquired images or video information are transmitted to an upper computer control console through the wireless transmission system 430, for the fire fighters to observe the site environment and decide control decisions.
Preferably, in order to improve the external illumination condition when the robot collects the parameters of the surrounding environment, the controller 410 can also control the illumination module 370 to work, so as to improve the illumination brightness when the water cannon working condition collection camera 330, the vehicle front working condition collection camera 340, the vehicle rear working condition collection camera 350 and the environment working condition collection camera 360 collect, and provide a highlight environment for the rescue process.
2) Fire extinguishing by the all-terrain fire-fighting robot:
when the fire water monitor system 200 on the fire-fighting robot starts to work, the monitor head 220 starts to spray, the controller 410 controls the driver 420 to work, the driver 420 drives the vertical angle adjusting mechanism 230 and the transverse angle adjusting mechanism 240 to respectively perform transverse and vertical angle adjustment, so that water flow falls into a fire-fighting area, meanwhile, the controller 410 controls the driver 420 to work, and the driver 420 drives the jet flow conversion assembly 250 to work, so that the conversion of the spray form is realized.
Preferably, when the fire is great, the jet flow conversion assembly 250 works to convert the sprayed water flow into a water column type to intensively extinguish the fire; when the field dense smoke is large, the jet flow conversion assembly 250 works to change the sprayed water flow into a water mist type for smoke elimination.
Preferably, in the process, according to the field requirement, the controller 410 controls the self-spraying module 260 to work, the self-spraying module 260 sprays, an annular water curtain is formed around the robot to cool the robot body, and the safety of the robot in a high-temperature environment is guaranteed.
(3) Tensioning a chain and a track of the all-terrain fire-fighting robot:
when the fire-fighting robot leaves the factory or works for a period of time, the transmission chain 146 in the traveling gear train 140 may be too tight or loose, and the adjustment process is as follows: firstly, the position fastening bolt 153 is loosened, then the tensioning bolt 152 is properly adjusted, at this time, the tensioning bolt 152 can drive the main adjusting slide block 154 to move relative to the auxiliary adjusting slide block 155, and further drive the sleeve sleeved with the position fastening bolt 153 and the driving tensioning shock-absorbing plate 128 on the sleeve to move, so that the adjustment of the distance between the driving tensioning shock-absorbing plate 128 and the displacement slide plate 151 is indirectly realized, as the displacement slide plate 151 is also connected with the driving wheel shock-absorbing plate 126, the adjustment of the distance between the driving wheel shock-absorbing plate 126 and the driving tensioning shock-absorbing plate 128 is finally realized, at this time, the transmission chain 146 sleeved on the driving gear 145 and the driven gear 147 can be loosened or tensioned according to the adjustment, and after the adjustment is finished, the position fastening bolt 153 is tightened for positioning.
The track tensioning assembly 170 is in accordance with the operational steps of the chain tensioning assembly 150. The track tensioning assembly 170 can achieve the tensioning function of the track 130, ensure the rotation efficiency of the track in the walking process of the robot, and avoid the problem of the slipping of the track, thereby ensuring the motion safety of the robot in a severe environment.
The present invention is not limited to the above embodiments, and any structural changes made under the teaching of the present invention shall fall within the scope of the present invention, which is similar or similar to the technical solutions of the present invention.
The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (8)
1. An all-terrain fire-fighting robot is characterized by comprising an all-terrain moving platform, a fire-fighting water cannon system, a perception interaction system and an electric control system, wherein the all-terrain moving platform is a moving carrier of the robot and is of a crawler-type structure and consists of a shell, a suspension damping assembly, a crawler, a walking wheel train, a chain tensioning assembly, a driving assembly and a crawler tensioning assembly;
the shell is characterized in that suspension damping components are fixedly arranged on two sides of the shell, and the shell also comprises two sets of foreign matter prevention cover plates which are of thin plate structures and are fixed on the outer sides of the suspension damping components through supports;
the suspension shock absorption components are divided into a left suspension framework, a right suspension framework, a driven shaft, a driving shaft, a driven wheel shock absorption plate, a bearing wheel shock absorption plate, a driving wheel shock absorption plate, a driven tensioning shock absorption plate, a driving tensioning shock absorption plate and an elastic element;
the walking wheel system consists of a driving wheel, a driven wheel, a bearing wheel, a supporting belt wheel, a driving gear, a transmission chain, a driven gear and a dustproof cover, the crawler belt is sleeved on a frame consisting of the driving wheel, the driven wheel, the bearing wheel and the supporting belt wheel, and the crawler belt is driven to rotate under the driving action of the driving wheel;
the chain tensioning assemblies are provided with two sets, the front ends of the chain tensioning assemblies are connected with the driving tensioning shock absorption plates, the rear ends of the chain tensioning assemblies are connected with the driving wheel shock absorption plates, and each set of chain tensioning assembly consists of a displacement sliding plate, a tensioning bolt, a position fastening bolt, a main adjusting sliding block, an auxiliary adjusting sliding block, a front baffle, a rear baffle and a side plate;
the driving assembly comprises two sets of driving motors and reduction boxes, the driving motors and the reduction boxes are respectively arranged at the two sides of the inner part of the shell and close to the rear part, a rotating shaft of each driving motor is connected with the reduction boxes, and the output of each reduction box is also connected with a driving shaft;
the structure of the track tensioning assembly is the same as that of the chain tensioning assembly, and the track tensioning assembly also comprises a displacement sliding plate, a tensioning bolt, a position fastening bolt, a main adjusting sliding block, an auxiliary adjusting sliding block, a front baffle, a rear baffle and a side plate, wherein the front end of the track tensioning assembly is connected with a driven wheel damping plate, and the rear end of the track tensioning assembly is connected with a driven tensioning damping plate;
each chain tensioning assembly comprises two displacement sliding plates which are symmetrically arranged on two sides of the front end of the driving wheel damping plate, each displacement sliding plate is a square plate, and notches and through holes are formed in four corners of each displacement sliding plate and used for allowing a tensioning bolt and a position fastening bolt to penetrate through;
the number of the tensioning bolts is one, the tensioning bolts penetrate through the two displacement sliding plates on the two sides of the front end of the driving wheel damping plate and are fixed in a closed mode through nuts;
the number of the position fastening bolts is three, the position fastening bolts penetrate through the two displacement sliding plates on the two sides of the front end of the driving wheel damping plate and are fixedly connected with the threaded holes in the side plates;
the position fastening bolt is also sleeved with a sleeve for sleeving and driving the tensioning shock absorption plate;
the main adjusting sliding block is a trapezoidal sliding block, a through hole is formed in the middle of the main adjusting sliding block, a thread matched with the tensioning bolt is arranged in the through hole, the main adjusting sliding block is sleeved on the tensioning bolt, and the inclined surface of the main adjusting sliding block is in contact fit with the inclined surface of the auxiliary adjusting sliding block;
the auxiliary adjusting slide block is a trapezoidal slide block, a through hole is formed in the end face of the rear end of the auxiliary adjusting slide block, the diameter of the through hole is larger than that of the position fastening bolt, the front end of the auxiliary adjusting slide block is in contact with and connected with the front baffle, and the auxiliary adjusting slide block slides forwards and backwards to drive the front baffle to move forwards and backwards;
the front baffle is a square plate, is perpendicular to the displacement sliding plate and spans between the driving tensioning shock-absorbing plates, threaded holes are formed in the inner parts of two sides of the front baffle in the thickness direction, the outer side of the front baffle is matched with a mounting position to fasten a bolt, and the inner side of the front baffle is connected with the fixed side plate through the bolt;
the structure and the shape of the rear baffle are the same as those of the front baffle, the rear baffle is perpendicular to the displacement sliding plate and spans between the driving wheel damping plates, and the outside of the rear baffle is fixed with the driving wheel damping plates through bolts;
the side plate is a triangular plate, three threaded holes are formed in the side plate, and the side plate is matched with the position fastening bolts to be installed.
2. An all-terrain fire fighting robot as recited in claim 1, wherein the fire fighting water cannon system is comprised of a cannon body, a cannon head, a vertical angle adjustment mechanism, a lateral angle adjustment mechanism, a jet conversion assembly, and an automatic jet module; the perception interactive system consists of an obstacle avoidance sensor, a gas detector, a water cannon working condition acquisition camera, a vehicle front position working condition acquisition camera, a vehicle rear position working condition acquisition camera, an environment working condition acquisition camera, an illumination module and a warning module; the electric control system consists of a controller, a driver, a wireless transmission system and an energy module.
3. The all-terrain firefighting robot of claim 1, wherein the suspension frame is a sheet-like structure, and each two sheets form a frame structure for mounting a driven shaft, a driving shaft, a driven wheel damping plate, a bearing wheel damping plate and a driving wheel damping plate;
the driven shaft is arranged at the joint of the driven tensioning shock absorption plate and the suspension framework, and is fixedly inserted into the shell to be used for fixing the suspension framework and serving as a first fulcrum for connecting the suspension framework and the shell;
the driving shaft is arranged at the joint of the driving tensioning shock absorption plate and the suspension framework, is also fixed on the shell and is used for fixing the suspension framework and serving as a second fulcrum for connecting the suspension framework and the shell, and meanwhile, the driving shaft is also used as a power output shaft of the robot to be connected with the driving gear;
the driven wheel damping plate is an inclined T-shaped plate, the front end of the driven wheel damping plate is connected with the driven wheel, and the rear end of the driven wheel damping plate is connected with the driven tensioning damping plate through a track tensioning assembly;
the bearing wheel damping plate comprises two crossed plates which are crossed into an X shape, the two crossed plates are connected through a rotating shaft, the lower ends of the two crossed plates are both provided with bearing wheels, and an elastic element is arranged between the upper ends of the two crossed plates;
the driving wheel damping plate is a groove-shaped plate, the front end of the driving wheel damping plate is connected with the driving tensioning damping plate through a chain tensioning assembly, and the rear end of the driving wheel damping plate is provided with a driving wheel;
the driven tensioning shock-absorbing plate is a sickle plate, the front end of the driven tensioning shock-absorbing plate is connected with a track tensioning assembly, the rear end of the driven tensioning shock-absorbing plate is connected with a suspension framework through a driven shaft, and the upper end of the driven tensioning shock-absorbing plate is also connected with the suspension framework through an elastic element to form a shock-absorbing system;
the driving tensioning shock absorption plate is a strip-shaped plate, the front end of the driving tensioning shock absorption plate is connected with the suspension framework through an elastic element, the middle of the driving tensioning shock absorption plate penetrates through the driving shaft, and the rear end of the driving tensioning shock absorption plate is connected with the driving wheel shock absorption plate through the chain tensioning assembly.
4. The all-terrain firefighting robot of claim 1, wherein the driving wheel is of a gear structure, the driving wheel is arranged at the rear end of the driving wheel shock absorption plate through a rotating shaft, a driven gear is further arranged outside the driving wheel, and the driving wheel and the driven gear are arranged on the same rotating shaft;
the driven wheel is of a double-row four-wheel structure and is arranged at the front end of the driven wheel damping plate;
the bearing wheel is of a single-row double-wheel structure and is arranged at the lower end of the bearing wheel damping plate;
the supporting belt wheel is of a double-row single-wheel structure and is arranged at the topmost end of the suspension framework;
the driving gear is arranged on the outermost side of the driving shaft, a transmission chain is sleeved between the driving gear and the driven gear, and the driving gear rotates along with the driving shaft to drive the transmission chain to rotate, further drive the driven gear to rotate and finally drive the driving wheel to rotate;
the shield is annular wheel-like, and inside is provided with the round notch that is used for holding the train pivot, and the shield outside edge evenly is provided with four screws along the circumferencial direction for fixed train, shield are respectively through the bolt fastening at the drive wheel, from driving wheel and hold in the palm on the band pulley.
5. The all-terrain fire-fighting robot as recited in claim 2, wherein the gun body is of a tubular structure and is arranged on the housing after being bent, the rear end of the gun body is connected with the water inlet, the front end of the gun body is connected with the gun head, the vertical angle adjusting mechanism comprises a manual mode and an automatic adjusting mode, the vertical angle adjusting mechanism is arranged behind the gun head and is connected with the gun body, the transverse angle adjusting mechanism also comprises a manual mode and an automatic mode, the transverse angle adjusting mechanism is arranged behind the vertical angle adjusting mechanism, the jet flow conversion assembly also comprises a manual mode and an automatic mode and is arranged between the gun head and the vertical angle adjusting mechanism, the self-spraying module is fixedly arranged at the topmost end of the gun body and directly penetrates through the inner wall of a pipeline where the gun body is located, and the self-spraying module is provided with a relay module and can be automatically opened and closed.
6. The all-terrain firefighting robot of claim 2, wherein the obstacle avoidance sensor is mounted at the foremost end of the housing, the gas detector is disposed above the housing, the monitor condition collection camera is mounted on a monitor head of the firefighting monitor system, the front position condition collection camera is mounted on the front side of the housing, the rear position condition collection camera is mounted on the rear side of the housing, the environmental condition collection camera is a camera having a two-dimensional pan-tilt function, the environmental condition collection camera is disposed above the firefighting monitor system, the plurality of illumination modules are disposed in front of and behind the housing, the warning module comprises a warning lamp and a warning whistle and is fixed on the housing, and the obstacle avoidance sensor, the gas detector, the monitor condition collection camera, the front position condition collection camera, the rear position condition collection camera, the environmental condition collection camera, The lighting module and the warning module are connected with the electric control system.
7. The all-terrain firefighting robot of claim 2, wherein the controller is a control, analysis and decision center of the robot and is connected with a driver, a wireless transmission system and a sensing interaction system, the controller performs information transmission and interaction with an upper computer console through the wireless transmission system, the driver is respectively connected with a driving motor, a vertical angle adjusting mechanism, a transverse angle adjusting mechanism, a jet flow conversion assembly and an automatic spray module, the driving motor in the driving assembly is driven to operate to drive the vertical angle adjusting mechanism and the transverse angle adjusting mechanism in the firefighting water cannon system to perform angle conversion, and the jet flow conversion assembly and the automatic spray module are driven to perform jet flow form conversion and start and stop of spraying; the energy module is connected with and supplies power for electrical appliances in the robot.
8. A working method of an all-terrain fire-fighting robot is characterized by comprising the following working steps:
(1) the all-terrain fire-fighting robot moves and avoids obstacles:
1) the all-terrain fire-fighting robot moves:
a wireless transmission system in the electric control system receives a control instruction from an upper computer console and sends the instruction to a controller, the controller analyzes and decides the control instruction and transmits the control instruction to a driver, and the driver drives a driving motor in a driving assembly to rotate, so that the all-terrain fire-fighting robot moves;
2) obstacle avoidance steps of the all-terrain fire-fighting robot:
when the robot travels, the controller controls an obstacle avoidance sensor in the sensing system in real time to detect an obstacle in front of the robot in real time, and the obstacle avoidance sensor transmits detected obstacle information back to the controller in real time, so that the robot can stop emergently when encountering the obstacle;
when an obstacle avoidance sensor in the sensing system detects that an obstacle exists in front of the robot in real time, the controller can also control the robot to avoid the obstacle and detour according to the size of the obstacle;
(2) the method comprises the following steps of (1) reconnaissance and fire extinguishing of the all-terrain fire-fighting robot:
1) reconnaissance of all-terrain fire-fighting robots:
the controller controls the gas detector, the water cannon working condition acquisition camera, the front position working condition acquisition camera, the rear position working condition acquisition camera, the environment working condition acquisition camera and the illumination module in the sensing system to work in real time, wherein the gas detector transmits the parameters of special gas in the surrounding environment of the robot to the controller, the water cannon working condition acquisition camera, the front working condition acquisition camera and the rear working condition acquisition camera respectively acquire images or videos of the environments in front of the water cannon and in front of and behind the body of the robot, and sends the collected information to the controller, the environment working condition collection camera collects the image or video information of the environment in the three-dimensional space around the robot in real time and sends the image or video information to the controller, the acquired image or video information is transmitted to an upper computer console through a wireless transmission system, so that fire fighters can observe the field environment and decide control decisions;
in order to improve the external illumination condition of the robot during the acquisition of the surrounding environment parameters, the controller can also control the illumination module to work, improve the illumination brightness of the water cannon working condition acquisition camera, the vehicle front position working condition acquisition camera, the vehicle rear position working condition acquisition camera and the environment working condition acquisition camera during the acquisition, and simultaneously provide a highlight environment for the rescue process;
2) fire extinguishing by the all-terrain fire-fighting robot:
when a fire water monitor system on the fire-fighting robot starts to work, a monitor head starts to spray, a controller controls a driver to work, the driver drives a vertical angle adjusting mechanism and a transverse angle adjusting mechanism to respectively perform transverse and vertical angle adjustment, so that water flow falls into a to-be-extinguished area, meanwhile, the controller controls the driver to work, and the driver drives a jet flow conversion assembly to work, so that conversion of a spray form is realized;
when the fire is great, the jet flow conversion assembly works to change the jetted water flow into a water column type to carry out centralized fire extinguishing; when the field dense smoke is large, the jet flow conversion assembly works to change the jetted water flow into a water mist type for smoke elimination;
in the process, according to the field requirement, the controller controls the self-spraying module to work, the self-spraying module sprays, an annular water curtain is formed around the robot, and the temperature of the robot body is reduced;
(3) tensioning a chain and a track of the all-terrain fire-fighting robot:
after the fire-fighting robot leaves the factory or works for a period of time, the transmission chain in the walking wheel train can generate the problem of over-tightness or looseness, and the adjusting process is as follows: firstly, adjusting a position fastening bolt to be loose, then adjusting the tensioning bolt appropriately, wherein the tensioning bolt can drive a main adjusting slide block to move relative to an auxiliary adjusting slide block, and further drive a sleeve sleeved with the position fastening bolt and a driving tensioning shock absorption plate on the sleeve to move, so that the adjustment of the distance between the driving tensioning shock absorption plate and a displacement slide plate is indirectly realized;
the track tensioning assembly is operated in steps consistent with the operation of the chain tensioning assembly.
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Effective date of registration: 20200826 Address after: 264006 Yantai economic and Technological Development Zone, Shandong, No. 18 Hongkong Road Applicant after: Shandong Guoxing Intelligent Technology Co.,Ltd. Applicant after: SHANDONG ATU ROBOT TECHNOLOGY Co.,Ltd. Address before: 264006 Yantai economic and Technological Development Zone, Shandong, No. 18 Hongkong Road Applicant before: SHANDONG ATU ROBOT TECHNOLOGY Co.,Ltd. |
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