KR101530843B1 - fire fighting robot having high waterproof property and high heat resistance - Google Patents

Abstract

According to the present invention, a fire fighting robot is capable of easily passing an obstacle by using an auxiliary caterpillar track whose weight is light, and whose angle can be adjusted; performing underwater moving and working based on an enhanced waterproof function; improving a weak communication environment or ensuring an alternative communication network; and enduring external heat by performing a function such as self-cooling or the like or quickly discharging internal heat to the outside.

Description

Fire fighting robot having high waterproof property and high heat resistance "

The present invention relates to a fire fighting robot, and more particularly, to a fire fighting robot capable of easily passing an obstacle by using an auxiliary infinite orbit capable of adjusting the angle, The present invention relates to a fire-fighting robot.

In recent years, underground infrastructure and high-rise buildings have been rapidly increasing, and large-scale energy facilities such as nuclear power plants and petrochemical complexes are expanding. For such buildings and facilities, existing fire fighting systems have reached their limit in response.

Especially, as a result of various types of large disasters, which are accompanied by a complex pattern of damage, firefighters are always exposed to collapse, radiant heat, poisonous gas, etc. As a result, there are serious injuries, such as the rise of firefighters, the death of a firefighter, and suicide due to post-traumatic stress.

Therefore, there is a constant need to develop technologies to cope with extreme environments, such as the protection of firefighting officers and response equipment, in order to efficiently respond to special disaster situations. Such special disasters may include large fires, collapses, explosions, CBRNs, and environmental pollution accidents.

Various fire fighting robots have been developed for use in extreme situations of various disasters. However, existing fire-fighting robots are exposed to moisture such as heavy weight, difficulty in passing obstacles in disaster environment, fire water and leakage water, vulnerability to waterproofing, exposure to flames or high temperature gas And it is difficult to remotely control in a disaster situation where communication environment is weak.

Korean Patent No. 10-1400770

SUMMARY OF THE INVENTION It is an object of the present invention to provide a fire fighting robot which can easily pass obstacles by using an auxiliary infinite orbit whose weight is light and whose angle is adjustable.

Another technical problem to be solved by the present invention is to provide a fire fighting robot capable of performing water movement and work with enhanced waterproof function.

Another object of the present invention is to provide a fire fighting robot capable of improving a weak communication environment or securing an alternative communication network and easily performing remote control and remote information collection.

Another object of the present invention is to provide a fire fighting robot capable of quickly discharging heat to the outside or performing functions such as masturbation cooling to withstand external heat.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise forms disclosed. Other objects, which will be apparent to those skilled in the art, It will be possible.

According to an aspect of the present invention, there is provided a fire-fighting robot comprising: a body having a plurality of metal members sealed together; Right and left hollow shafts connected to the corresponding main motors of the left and right main motors in the body and partially protruding from the right and left sides of the body to the outside of the body; Right and left main driving wheels (main driving wheels) fixed to the outward protruding portions of the corresponding hollow shafts of the right and left hollow shafts and rotating together with the corresponding hollow shafts; Left and right main endless tracks fixed to corresponding main wheels of the left and right main wheels; An auxiliary shaft connected to an auxiliary motor in the body, the auxiliary shaft passing through the left and right hollow shafts and having opposite ends protruded from the body through one ends of the right and left hollow shafts; Left and right auxiliary wheels fixed to the outside of the main drive wheels in a corresponding hollow shaft of the right and left hollow shafts and rotated together with the left and right main wheels and left and right auxiliary endless tracks fixed to corresponding ones of the left and right auxiliary wheels, A left and aft auxiliary caterpillar module fixed to both ends of the sub axis and rotating together with the sub axis; And a control module which is located inside the body and controls the auxiliary motor so as to change an angle formed by the left and right auxiliary endless track modules with the left and right main endless tracks by rotating the auxiliary shaft according to the operation mode. At this time, it is preferable that sealing is performed between the left and right hollow shaft penetrating portions of the body, the right and left hollow shafts, and the other ends of the right and left hollow shafts and the auxiliary shaft inside the body.

In the obstacle passing mode, the control module changes the angle between the right and left main endless tracks of the left and right caterpillar modules so as to correspond to the height or slope of the obstacle, thereby securing the frictional force to the obstacles in the left and right auxiliary caterpillars step; And controlling an angle between the right and left main endless track and the left and right endless track modules so that the frictional force against the obstacle gradually increases.

Wherein the fire control robot comprises: a sensing module for sensing at least one of a temperature of the fire control robot itself and a temperature outside the fire control robot; And a spraying module for spraying the cooling liquid onto the body of the fire-fighting robot when the temperature detected by the sensing module is equal to or greater than a threshold value. At this time, when the temperature exceeding the critical temperature is sensed by the sensing module but the mounted cooling liquid is exhausted, the control module sends a cooling liquid ejection request to an external cooling liquid ejection device via the wireless communication module, Based on at least one of the sensing result of the sensing module and the image analysis result photographed by the camera and the image analysis result of the sensing module and the image analysis result of the sensing module, Liquid < / RTI >

The fire fighting robot may further include a heat conduction unit in which the left and right main motors and the auxiliary motor are in contact with each other between the bottom of the body and the bottom.

The fire-fighting robot includes a battery for supplying power to the fire-fighting robot; And a heat conduction unit in contact with the battery and the bottom of the body.

The fire-fighting robot includes: a rotary shaft fixed to a rear end of the body; Left and right rear wheels fixed to left and right sides of the rotation shaft and provided outside the body and corresponding to the main endless track of the left and right main endless tracks that rotate together with the rotation shaft; And a tension control means for varying a distance between the left wheel and the left wheel and between the right wheel and the right wheel according to the rotational direction of the tension adjusting screw.

The fire-fighting robot includes a plurality of sensing means mounted on the sealed case for sensing a temperature, a humidity, a concentration of a noxious gas, and a concentration of a volatile organic compound, And a sensing module electrically connected to the inside of the body.

The fire fighting robot according to claim 1, further comprising a wireless communication module, wherein when a failure occurs in wireless communication according to a first wireless communication method through the wireless communication module, The second wireless communication method can be changed or the first wireless communication method wireless communication relay device can be secured.

The fire-fighting robot according to the present invention is advantageous in that it can easily pass through an obstacle by using an auxiliary infinite orbit whose weight is light and angle is adjustable.

The fire-fighting robot according to the present invention is advantageous in that the waterproof function is enhanced and the robot can carry out underwater movement and work.

The fire fighting robot according to the present invention is capable of improving a weak communication environment or securing an alternative communication network to easily perform remote control and remote information collection.

The fire-fighting robot according to the present invention is advantageous in that it can quickly withstand external heat by discharging internal heat to the outside quickly or performing functions such as self-cooling.

1 is a perspective view of a fire fighting robot according to the present invention.
2 to 4 show examples in which the angles of the main endless track and the auxiliary endless track module are changed according to the operation mode of the fire fighting robot according to the present invention.
5 is a block diagram of a fire fighting robot according to the present invention.
6 is a perspective view of a structure inside the body of the fire fighting robot according to the present invention.
7 is a plan view of a structure inside the body of the fire fighting robot according to the present invention.
8 is a cross-sectional view of the inside of the body of the fire fighting robot according to the present invention.
9 is a side view of a left auxiliary endless track module of a fire fighting robot according to the present invention.
FIG. 10 shows an example in which, when the fire fighting robot according to the present invention passes through a vertical obstacle, the angles between the right and left auxiliary caterpillar modules and the left and right main endless tracks are changed.
11 to 13 show examples of a manipulator and a functional module mounted on a fire fighting robot according to the present invention.
14 is an image taken by a thermal imaging camera included in a function module of a fire fighting robot according to the present invention.
15 to 17 show the main sealing points of the fire fighting robot according to the present invention.
18 and 19 are views for explaining a tension adjusting mechanism for the left and right main endless tracks of the fire fighting robot according to the present invention.
20 is a view for explaining an example of a heat radiation method of a fire fighting robot according to the present invention.
21 is a flowchart showing an example of a method of driving a fire fighting robot according to the present invention.
22 shows an example of a fire fighting robot according to the present invention equipped with a spray module.
23 is a view showing that the fire control robot according to the present invention performs the liquid ejecting operation for cooling.
Fig. 25 is a flowchart showing another example of the fire fighting robot driving method according to the present invention.
26 shows an example in which the fire fighting robot according to the present invention communicates with a remote controller.
27 and 28 show examples of wireless repeaters that can be used by the fire fighting robot according to the present invention.

The foregoing objects, features and advantages of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Like reference numerals designate like elements throughout the specification. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

Hereinafter, a lighting apparatus according to the present invention will be described in detail with reference to the drawings. Suffixes ", "module ", and" part "for elements used in the following description are given or mixed in consideration of ease of specification only and do not have a meaning or role that distinguish themselves .

1 is a perspective view of a fire fighting robot 100 according to the present invention.

1, the fire fighting robot 100 includes a metal body 101, an antenna 103, and a main endless track 110 (see FIG. 1) including left and right main endless tracks 111 and 112 provided on left and right sides of the body 101, Left and right auxiliary endless tracks 120A and 120B which are provided adjacent to left and right main endless orbits 111 and 112 and which include an auxiliary endless track 120 including left and right auxiliary endless tracks 121 and 122, 130, and a functional module 140.

The body 101 is made of a combination of a plurality of metal materials. A screw connection, a rivet connection, or the like may be used for the connection of the plurality of metal members. And the joint between metal parts is sealed and is waterproof. Also, a joint portion with the components outside the body 101 is sealed. For example, the joint between the body 101 and the view securing structure 102 of the camera (not shown) at the front of the body 101 is sealed. Therefore, the fire fighting robot 100 can move under water or perform an operation in water.

The antenna 103 serves to receive a wireless communication signal for a communication module (not shown). The joint between the antenna 103 and the body 101 may also be sealed.

The main endless track 110 and the auxiliary endless track 120 receive the rotational force of the motor located inside the body 101 and move the fire-fighting robot 100 while rotating. The main endless track 110 and the auxiliary endless track 120 can be rotated by rotation of a hollow shaft (not shown) rotating based on a rotational force transmitted from a main motor (not shown).

The left auxiliary caterpillar module 120A and the right auxiliary caterpillar module 120B may be wholly rotated based on the rotation of the auxiliary shaft provided inside the hollow shaft. In the meantime, the auxiliary endless track modules 120A and 120B are similar to the web-shaped form. In this specification, the auxiliary endless track modules 120A and 120B are used in combination with a flipper. The subsidiary shaft to which the auxiliary endless track modules 120A and 120B are fixed is used in combination with the flipper shaft.

The angles between the main endless track 110 and the auxiliary endless track modules 120A and 120B can be changed as the left and right auxiliary aileron modules 120A and 120B rotate. The rotation of the auxiliary endless track modules 120A and 120B may be performed at different angles according to the operation mode of the fire fighting robot 100, and the angle change may be continuously performed.

The rotation of the auxiliary endless track modules 120A and 120B is performed when the fire-fighting robot 100 climbs up or down the stairs, when it climbs uphill, when it goes downhill, or when it passes obstacles such as riding over an object .

According to the above structure, the shaft for rotating the auxiliary endless track modules 120A and 120B is provided inside the hollow shaft for rotating the main endless track 110 and the auxiliary endless track 120, (100) can be made smaller in volume and light in weight. The fire fighting robot 100 can easily pass an obstacle based on the weight of the fire and the rotating ability of the auxiliary endless track modules 120A and 120B according to the operation mode.

The manipulator 130 can receive the electric power from the battery and bend or extend a plurality of joints to move the functional module 140 to a desired position or to control the direction of the functional module 140. The function module 140 may include a camera for information collection, various sensors, and the like, and may include a light for securing a front view. The function module 140 may be a module equipped with a gripping function, a cutting function, and the like. However, the function of the functional module 140 is not limited to the examples described above.

2 to 4 show examples in which the angles of the main endless track 110 and the auxiliary endless track modules 120A and 120B are changed according to the operation mode of the fire fighting robot according to the present invention.

2 is a side view of the fire fighting robot 100 in a state in which it operates in the flat running mode. Referring to FIG. 2, the angle between the main endless track 110 and the auxiliary endless track modules 120A and 120B is 180 degrees.

3 is a side view of the fire fighting robot 100 in a state in which it operates in the vertical obstacle passing mode. 3, the angle between the main endless track 110 and the auxiliary endless track modules 120A and 120B is controlled so that the auxiliary endless track modules 120A and 120B are in contact with the vertical obstacle .

Fig. 4 is a side view of the fire fighting robot 100 in a state in which it operates in the rotation mode. Referring to FIG. 4, in the rotation mode, the angle between the main endless track 110 and the auxiliary endless track modules 120A and 120B is controlled to 0 to minimize the turning radius.

5 is a block diagram of the fire fighting robot 100 according to the present invention. 6 is a perspective view of the inside of the body 101 of the fire fighting robot 100 according to the present invention. 7 is a plan view of the inside of the body 101 of the fire fighting robot 100 according to the present invention. 8 is a sectional view of the inside of the body 101 of the fire fighting robot 100 according to the present invention.

Referring to the drawings, the fire fighting robot 100 includes left and right main endless tracks 110, left and right auxiliary endless tracks 120, a manipulator 130, a function module 140, right and left hollow shafts 150, A main motor 170, an auxiliary motor 180, a battery 190, a control module 200, a data storage module 210, a communication module 220, a sensing module 230, a camera module 240, and a spray module 250.

Meanwhile, the components shown in the drawings are not essential, so that the fire fighting robot 100 according to the present invention may have more or fewer components. Hereinafter, the components will be described with reference to necessary drawings.

The body 101 of the fire fighting robot 100 has been previously shown to have a plurality of metallic materials sealed together. The left and right hollow shafts 150 are connected to corresponding main motors 171 and 172 of the left and right main motors 170 in the body 101. Each of the left and right hollow shafts 150 and 151 partially protrudes outside the body 101 through a corresponding one of the left and right sides of the body 101.

On the other hand, the left and right main driving wheels are fixed to the protruding portions of the corresponding hollow shaft of the right and left hollow shafts 150, and rotate together with the corresponding hollow shafts. The main drive wheel is a wheel that includes a plurality of fixing means (for example, teeth) to which an endless track can be fixed, and transmits power to a fixed endless track while rotating by the rotation of the shaft.

That is, the left and right main endless tracks 110 are fixed to corresponding main wheels of the left and right main wheels. A mechanism for rotating the left and right main endless tracks 110 based on the above description will be described as follows. When the left and right main motors 170 rotate, the rotational force is transmitted to the right and left hollow shafts 150 by the gear structure 125, and the right and left hollow shafts 150 rotate.

Then, the right and left main wheels fixed to the left and right hollow shafts 150 rotate, and the left and right main endless tracks 110 fixed to the left and right main wheels rotate. At this time, the fire fighting robot 100 can perform a straight forward, a direction change, a rotation, and the like based on a difference in degree of rotation of the left and right main endless tracks 110.

The auxiliary shaft 160 is connected to the auxiliary motor 180 inside the body 101 and both ends of the auxiliary shaft 160 are protruded through the left and right hollow shafts 150 through one ends of the right and left hollow shafts 150 . The rotational force of the auxiliary motor 180 may be transmitted to the auxiliary shaft 160 by the gear structure 125.

7, the left and right hollow shafts 150 are connected to a main motor by a plurality of gears and a sub main shaft, the flipper shaft 160 is also connected to the sub motor by a plurality of gears (bell & spear gears) and a sub flipper shaft. In the present specification and drawings, the left and right hollow shaft 150 is used as a main shaft and the auxiliary shaft 160 is used in combination with a flipper shaft.

The battery 190 supplies driving power to the components including the left and right main motors 170 and auxiliary motors 180 of the fire fighting robot 100. 7, the battery 190 is positioned inside the body 101 behind the left and right main motors 170 and the auxiliary motors 180. As shown in FIG.

1, the left and right auxiliary caterpillar modules 120A and 120B are rotated by the rotation of the sub shaft 160 so that the left and right auxiliary cater modules 120A and 120B and the left and right auxiliary cater modules 120A and 120B are rotated. The angle formed by the left and right main endless tracks 110 is changed.

9 is a side view of the left auxiliary endless track module 120A of the fire fighting robot 100 according to the present invention. 9, the left auxiliary crawler track module 120A includes a left auxiliary track 120A-1, a body 120A-2, a coupling means 120A-3, a left auxiliary track 120A-4, Adjustment device 120A-5.

The left auxiliary wheel 120A-1 is fixed to the corresponding left hollow shaft 151 of the right and left hollow axles 150 and rotates about the left auxiliary wheel 120A-1 and the left auxiliary wheel 120A- And rotates the left auxiliary endless track 121 fixed between the left and right ends. On the other hand, the left auxiliary wheel 120A-1 is fixed to the left hollow shaft 151 outside the left main wheel.

The body 120A-2 surrounds the left auxiliary wheel 120A-1 and is coupled to the coupling means 120A-3. The left auxiliary end wheel 120A-4 is connected to the body 120A-2 via the coupling means 120A-3. The tension adjusting device 120A-5 adjusts the distance between the left auxiliary steering wheel 120A-1 and the left auxiliary steering wheel 120A-4 by the mechanical force corresponding to the thread turning direction, Can be controlled. Meanwhile, since the right auxiliary cubic orbit module 120B has a symmetrical structure with the left auxiliary cubic orbital module 120A, a detailed description thereof will be omitted.

The control module 200 is located inside the body 101 and rotates the auxiliary shaft 160 according to the operation mode so that the left and right auxiliary endless track modules 120A and 120B rotate the left and right main endless tracks 110 The auxiliary motor 180 can be controlled to change the angle formed by the angle?

The control module 200 may include a CPU, various input / output devices or devices, various electronic devices, various input / output ports, and the like, which are disposed on the PBC. 5, the control module 200 receives a plurality of input signals IN_1 to IN_m, analyzes the plurality of input signals IN_1 to IN_m, and controls the control of the fire fighting robot 100 And outputs a plurality of control signals CS1 to CS_n.

The control module 200 transmits the control signals CS1 to CS_n to various components, and the control module 200 controls the operation of the fire fighting robot 100 as a whole.

The data storage module 210 may store algorithms or software and data for the operation of the fire fighting robot 100. The data storage module 210 may store various data generated during use of the fire fighting robot 100. For example, data obtained by the sensing module 230, route information, images obtained by the camera, and the like may be stored in the data storage module 210. Meanwhile, the data storage module 210 may include at least one nonvolatile memory means and at least one volatile memory means.

10 shows an example in which the angles between the left and right auxiliary endless track modules 120A and 120B and the left and right main endless tracks 110 are changed when the fire fighting robot 100 according to the present invention passes through the vertical obstacle.

10 (a) shows that the fire fighting robot 100 moves on the flat ground. 10B shows that the fire fighting robot 100 reaches the vertical obstacle during the movement and the left and right auxiliary endless track modules 120A and 120B change the angle formed with the left and right main endless tracks 110. FIG.

At this time, the changed angle corresponds to the height of the obstacle. If the obstacle is an inclined obstacle, the altered angle may be determined based on the inclination of the obstacle with the ground. The left and right auxiliary endless track modules 120A and 120B are brought into contact with the obstacle by the angle change to secure the frictional force with respect to the obstacle.

10 (c), the left and right auxiliary caterpillars 120A and 120B are disposed on the left and right main endless tracks 110 (110) so that the frictional force against the obstacle gradually increases, ) Can be controlled.

10 (c), the fire fighting robot 100 continues to move to the left and right auxiliary caterpillar modules 100, considering the frictional force against the obstacle and the balance of the fire fighting robot 100, The angles between the left and right main endless tracks 110 and 120A and 120B can be continuously changed.

The communication module 220 may perform a wire / wireless communication function. The communication module 220 may perform a wire / wireless communication function according to a plurality of communication methods.

The sensing module 230 may include a plurality of sensing means for sensing the distance to the object, the temperature, the humidity, the concentration of the noxious gas, and the concentration of the combustible gas. The plurality of sensing means may be mounted on the sealed case. The sensing module 230 may be physically / electrically connected to the interior of the body 101 through sealing means. That is, the sensing module 230 is installed outside the fire-fighting robot 100, but the sealing module 230 itself and the mounting site are sealed.

The camera module 240 can acquire an external image of the fire fighting robot 100. The camera module 240 may include at least one of a general image acquisition camera and a thermal image acquisition camera.

The spraying module 250 can spray the cooling liquid mounted on the fire-fighting robot 100 onto the body 101. The cooling liquid may be mounted on the body 101 or may be mounted on a mounting space provided outside the body 101. Meanwhile, the control module 200 may control the spray module 250 to spray the cooling liquid based on a result of temperature sensing by the sensing module 230.

11 to 13 show examples of the manipulator 130 and the function module 140 mounted in the fire fighting robot 100 according to the present invention.

11, it can be seen that the manipulator 130 mounted on the fire fighting robot 100 according to the present invention is equipped with two functional modules such as a thermal camera module 141 and a gripper module 142 . The gripper module 142 can pick up and collect objects in the form of a pincer. For example, the fire-fighting robot 100 can remove the obstacle blocking the drain hole in the water using the gripper module 142.

Referring to FIG. 12, the manipulator 130 of the fire fighting robot 100 according to the present invention is shown mounted with a plasma tool, which is a kind of function module 140. The plasma tool 143 is a device that can cut objects using plasma, and can be used to cut out doors and obstacles.

13, it can be seen that the manipulator 130 of the fire fighting robot 100 is equipped with a multi function module 144 including a thermal imaging camera, an LED bulb, and an HD camera.

14 is an image captured by the thermal imaging camera included in the function module 140 of the fire fighting robot 100 according to the present invention. Such thermographic images can be useful for searching for fire spots or finding survivors in a fire scene where visibility is difficult to obtain.

Meanwhile, functional modules that can be mounted on the manipulator 130 of the fire fighting robot 100 according to the present invention are not limited to the above-described examples. For example, the manipulator 130 may be equipped with a fire extinguisher capable of spraying fire water.

15 to 17 show the main sealing points of the fire fighting robot 100 according to the present invention.

 FIG. 15 shows an example of sealing in relation to the right and left hollow shaft 150 and the flipper shaft 160 in the fire fighting robot 100 according to the present invention. 15, the body penetration portion of the right and left hollow shaft 150 and the right and left hollow shafts 150 are sealed, and a portion where one end of the right and left hollow shafts 150 meet the auxiliary shaft 160 It can be seen that the sealing process is performed.

16, a sealing portion is sealed between the penetrating portion of the right and left hollow shafts 150 of the body 101 and the right and left hollow shafts 150, and a circular portion where the manipulator 130 is fixed to the front portion of the body 101 And a rectangular portion to which a built-in camera view field securing window on the front surface of the body 101 is sealed is sealed, a rear lid portion of the body 101 is sealed, Is sealed.

17, between the through-hole portions of the right and left hollow shafts 150 of the body 101 and the right and left hollow shafts 150 and the rear camera view viewing window joint portions and the body side member joint portions of the body 101 are sealed It can be seen that it is processed.

As described above, in the fire fighting robot 100 according to the present invention, the shaft mounting portion, which may be vulnerable to the waterproof function, is sealed in a double manner, and the joining portion of the metal plate forming the body 101 and the joining portion All the waterproof parts are sealed. Therefore, the fire fighting robot 100 according to the present invention secures a waterproof function of at least several tens of meters, and can perform not only underwater movement but also underwater operation.

18 and 19 are views for explaining a tension adjusting mechanism for the left and right main endless tracks 110 of the fire fighting robot 100 according to the present invention.

Referring to Fig. 18, a rotating shaft 153, to which the main end wheels 154 and 155 of the left main endless track 111 and the right main endless track 112 are fixed, is provided at the outer rear end of the body 101. Fig. On the left and right sides of the rotating shaft 153, tension adjusting screws 156 and 157 are positioned as tension control means.

The distance between the left main wheel and the left main wheel 154 and the distance between the right main wheel and the right main wheel 155 are varied in accordance with the rotational direction of the tension adjusting screws 156 and 157, 110 are adjusted.

19 shows a state in which the tension on the left and right main endless tracks 110 is adjusted, and then the state is fixed by the fixing screws 158. FIG.

20 is a view for explaining an example of a heat radiation method of the fire fighting robot 100 according to the present invention. 20, an aluminum plate fixed by double-sided tape is positioned between the left main motor 171 located inside the body 101 of the fire fighting robot 100 and the bottom of the body 101 . The aluminum plate transmits heat generated from the left main motor 171 to the body 101 and discharges the heat. That is, the aluminum plate is a heat conduction means.

The heat conduction means may be provided for the auxiliary motor 180 and the right main motor 172 as well. Optionally, one heat conduction means may be used as the heat conduction means for all of the motors. Heat conduction means may also be provided between the battery 190 and the body 101.

On the other hand, the heat conduction means can be realized by a metal having a high thermal conductivity in addition to the aluminum plate. If the motor or the battery is directly connected to the bottom of the body 101 by a thermal grease or the like, the heat radiation function may be improved.

21 is a flowchart showing an example of a method of driving the fire fighting robot 100 according to the present invention. Hereinafter, the driving method will be described with reference to necessary drawings.

First, the control module 200 controls the sensing module 230 to sense the temperature of at least one of the outside and the inside of the body 101 (S100). If it is detected that the temperature is above the critical temperature, the control module 200 determines whether the cooling liquid installed in the fire fighting robot 100 has been exhausted (S120). The space for mounting the cooling liquid may be provided inside the body 101 or outside the body 101. The cooling liquid may be water or a liquid containing a fire-retardant component. However, the scope of the present invention is not limited thereto.

If it is determined in step S120 that the mounted cooling liquid remains (NO), the control module 200 controls the spray module 250 to inject the mounted cooling liquid onto the body 101 S130).

However, if all of the mounted cooling liquid is exhausted (YES), the control module 200 requests the apparatus capable of injecting the cooling liquid to inject the cooling liquid (S140). Here, the cooling liquid-ejectable device may be a portable device such as another fire-fighting robot, or may be a fixed device such as a sprinkler.

22 shows an example of a fire fighting robot 100 according to the present invention equipped with a spray module 250. Fig. 22, it can be seen that the pipe 251 and the injection nozzle 252 are fixed by the fixing means 253 along the upper edge of the body 101 of the fire fighting robot 100. On the other hand, the cooling liquid mounting means is not shown in Fig. In some cases, the pipe may be provided inside the body 101 and only the injection nozzle may be exposed inside the body 101. [

23 is a view showing that the fire fighting robot 100 according to the present invention performs the liquid spraying operation for cooling. Referring to FIG. 23, it can be seen that the cooling liquid is diffusely sprayed through each of the plurality of injection nozzles.

The fire fighting robot 100 according to the present invention may spray the cooling liquid preferentially to the bottom portion of the body 101 through the spraying means (not shown) provided below the body 101. [ This is because the main body, the auxiliary motor, and the battery, which are exposed to a large amount of heat, are in contact with the inner bottom of the body 101. In some cases, these components may be in contact with the bottom of the body 101 through heat conduction means as previously discussed.

When all of the mounted cooling liquid is exhausted, the fire-fighting robot 100 according to the present invention detects the presence of cooling liquid (e.g., water) on the basis of the detection result of the sensing module 230, Can detect the place. Then, the fire-fighting robot 100 may perform an active heat-radiating function by pumping the cooling liquid to obtain it and then using it for cooling, or by obtaining the sensed cooling liquid.

24 is a diagram for explaining the configuration and functions of the sensing module 230 included in the fire fighting robot 100 according to the present invention.

24 (a), the sensing module 230 includes a plurality of sensors including a CPU, a temperature / humidity sensor, a volatile organic compound (VOC) sensor, a carbon dioxide sensor, a carbon monoxide sensor, a hydrogen sulfide sensor, A port selection switch, a power supply, a debug port, and the like. 24 (b) shows a photograph of the sensing module 230 implemented on an actual PCB.

Meanwhile, the control module 200 of the fire fighting robot 100 can determine whether the firefighter is to be inserted by analyzing the sensing result of the sensing module 230. FIG. The control module 200 may transmit the information acquired by the sensing module 230 to another device (e.g., another fire fighting robot, a disaster system, etc.) through the communication module 220.

Although not shown in the drawings, the plurality of sensing means may be mounted on the sealed case and positioned outside the body 101. This is because it is more accurate to directly detect various values outside the body 101.

Meanwhile, even if the sealed case is mounted on the outside of the body 101, it is preferable that the case is electrically connected to the inside of the body 101 through the sealing structure. This is because the waterproof function is essential when considering the place and method of using the fire fighting robot.

Fig. 25 is a flowchart showing another example of a method of driving the fire fighting robot 100 according to the present invention. Hereinafter, the driving method will be described with reference to necessary drawings.

First, the control module 200 checks the communication state of the communication module 220 (S200). The communication may be communication with a device that remotely controls the fire fighting robot 100, communication with the fire fighting disaster system, or communication with another fire fighting robot. However, the communication state of the fire fighting robot 100 is not limited to the above examples.

If it is determined that the communication failure of the wireless communication module 220 has occurred (S210: YES), the control module 200 changes the wireless communication method from the first wireless communication method to the second wireless communication method And informs the wireless communication module 220 (S220).

As a result, if the wireless communication method is changed to the second wireless communication method and good communication is enabled (S230, YES), the control module 200 transmits the wireless communication module 220 (S240). For example, when a failure occurs in a Wi-Fi communication that is currently being used, the fire fighting robot 100 may change its communication method to another short-range wireless communication method or change to a wireless communication method using a mobile communication network.

However, if the change to the second wireless communication fails (S230, NO), the control module 200 tries to secure the wireless communication relay means for using the existing first wireless communication method (S250). An attempt to secure relay means for using the existing wireless communication method may be to call an external device capable of performing a relay function. For example, the fire fighting robot 100 may call another fire fighting robot capable of performing a relay function.

On the other hand, as another method for securing the relay means, there may be a method of securing a radio relay point by dropping the radio repeater to be loaded. As another method for securing the relay means, there may be a method in which a fire fighter or the like who confirms the communication fault information received from the fire fighting robot 100 throws the relay means to that point.

26 shows an example in which the fire fighting robot 100 according to the present invention communicates with a remote controller. Referring to FIG. 26, it can be seen that the fire fighting robot 100 communicates with a remote controller using both wireless communication and wired communication. The fire fighting robot 100 can mainly transmit various data or status information (for example, sensing data or acquired images) to the remote controller. In the remote controller, a control signal can mainly be transmitted to the fire fighting robot 100.

27 and 28 show examples of wireless repeaters that the fire fighting robot 100 according to the present invention can use.

Referring to FIG. 27, the wireless repeater has an external shock absorbing structure, a heat insulating structure using ceramic paper, and a rod antenna. On the other hand, when the center of gravity is located below the wireless repeater, the wireless repeater may stand upright and serve as a wireless relay. On the other hand, the antenna can serve as a handle for throwing.

Referring to FIG. 28, it can be seen that the wireless repeater has a spherical shape having an external shock absorbing structure, various information providing means provided on the external angle, and control means. On the other hand, the wireless repeater can be easily transmitted to a point of communication failure by being rolled on a stairway in a spherical shape.

At least a part of the above-described method of driving the fire fighting robot may be implemented by a separate software module that performs one function or operation. Such software code may be implemented by a software application written in a suitable programming language. In addition, the software code may be stored in a separate data storage space that is embedded in or separate from the control module, and may be executed by the control module.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. This is possible.

Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the equivalents of the claims, as well as the claims.

100: Fire robot 110: Main endless track
120: auxiliary endless track 130: manipulator
140: Function module 150: Hollow shaft
160: auxiliary shaft 170: main motor
180: auxiliary motor 190: battery
200: Control module 210: Data storage module
220: communication module 230: sensing module
240: Camera module 250: Spray module

Claims (6)

A body to which a plurality of metal materials are sealed;
A pair of left and right through holes through which the body is projected to the outside of the body, and a pair of right and left hollow shafts sealed between the corresponding through holes;
The auxiliary shaft being sealed between the other ends of the right and left hollow shafts in the body through both ends of the right and left hollow shafts through the one end of the right and left hollow shafts;
Left and right main endless tracks and left and right auxiliary endless tracks that rotate based on rotation of corresponding hollow shafts of the right and left hollow shafts;
A right and left caterpillar module guiding the rotations of the left and right auxiliary caterpillars and changing an angle with the left and right main caterpillars based on rotation of the subordinate axis;
A sensing module for sensing a temperature of at least one of the inside and outside of the body;
A spray module capable of spraying the mounted cooling liquid;
A wireless communication module;
camera; And
Controls the spraying module to spray the mounted cooling liquid onto the body when a temperature equal to or higher than a critical temperature is sensed by the sensing module,
A cooling liquid ejection request is sent to an external cooling liquid ejection device through the wireless communication module when a temperature equal to or higher than a critical temperature is sensed by the sensing module but the mounted cooling liquid is exhausted, Obtaining a liquid for cooling based on at least one of a result of image acquisition by the camera and an image analysis result obtained by the camera; and obtaining a liquid for cooling based on at least one of a sensing result of the sensing module and an image analysis result photographed by the camera And a control module for performing at least one of the following. The apparatus of claim 1, wherein the sensing module comprises:
And a plurality of sensing means mounted on the sealed case for sensing a temperature, a humidity, and a concentration of a harmful / combustible gas, and electrically connected to the inside of the body through a sealing structure sealed outside the body Features, fire fighting robot. delete delete The fire fighting robot according to claim 1,
Further comprising at least one heat conduction means in contact with at least one of a left and right main motor connected to the right and left hollow shafts, an auxiliary motor connected to the auxiliary shaft, and a battery for supplying power to the fire fighting robot and a floor inside the body Wherein the robot is a robot. 6. The apparatus of claim 5,
Characterized in that a portion of the bottom of the body provided with the at least one heat conduction means is set as a liquid spraying priority region for cooling.

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