RU208156U1 - LIGHT-CLASS MOBILE ROBOT FOR EMERGENCY AND RESCUE WORKS RELATED TO FIRE EXTINGUISHING - Google Patents

Abstract

The utility model relates to the field of rescue equipment of the Navy, namely to a mobile robot for conducting rescue operations related to fire extinguishing on floating objects, made with the ability to receive and transmit signals to the control panel, which is a portable computer with joysticks, consisting of a body with a caterpillar chassis installed on it and front and rear auxiliary rotary tracks, a drive part with a battery located inside the body, a manipulator with a mechanical gripper made on the basis of intelligent servo drives, control and video surveillance systems assembled as a single unit on a tilt-and-turn platform mounted on a manipulator, a catapult for a powder self-actuating fire extinguisher in contact with the flame. Safe, radiation-resistant design. It is completely sealed, able to work in rain, snow and dust. Able to overcome water barriers. The MRTP has a small mass and can be carried by one person in a special case or backpack. It is easy to use and does not require special skills to operate. The battery can be replaced in the "field" without tools and can be charged from the mains, generator or car cigarette lighter. This allows continuous use of the robot through battery rotation.

Description

The utility model relates to the field of naval rescue equipment and is designed to ensure the conduct of rescue operations related to extinguishing fires on floating objects.

Known mobile robot MRK-RP (prototype) [1, 2], designed for reconnaissance in the daytime and at night and in smoke conditions, elimination of man-made accidents and extinguishing fires in their initial stage in a high level of heat exposure and radiation.

The main element of the MRK-RP is a vehicle with its control and power supply systems. A manipulator and technological equipment are mounted on the vehicle body. Controlled by MRK-RP remotely using a remote control.

The disadvantages of this mobile robot include the fact that a special machine is required for its transportation, its weight and size characteristics do not allow penetrating into floating objects and moving along ship ladders.

In general, the mobile robot MRK-RP does not fully meet the requirements of the Navy to ensure the conduct of emergency rescue operations related to extinguishing fires on floating objects.

The objectives of the utility model are to increase the efficiency and safety during rescue operations related to extinguishing fires on floating objects using a lightweight mobile robot with the lowest weight, dimensions and increased cross-country ability.

The task is achieved by the fact that a well-known mobile robot for rescue operations related to extinguishing fires on floating objects, consisting of a body with a tracked chassis mounted on it, a drive part with a battery located inside the body, a control system, a video surveillance system, a manipulator with a mechanical grip, and made with the ability to receive and transmit signals to a control panel, which is a laptop with joysticks, it has front and rear auxiliary rotary tracks, a catapult for a powder self-triggering fire extinguisher in contact with a flame, and control and video surveillance systems, assembled in the form of a single unit on a tilt-rotary platform mounted on a manipulator made on the basis of intelligent servo drives.

A mobile robot for rescue operations related to extinguishing a fire on floating objects (MRTP) is designed for:

- conducting reconnaissance in the daytime and at night, in conditions of smoke and in conditions of a high level of heat exposure and radiation on the upper deck, in the compartments and internal rooms of the emergency floating object;

- extinguishing and localizing fires in their initial stages under conditions of a high level of heat exposure and radiation on the upper deck, in the compartments and internal rooms of floating objects;

- carrying out rescue operations using a manipulator and a mechanical gripper.

A schematic view of the described mobile robot for carrying out emergency rescue operations associated with extinguishing a fire is shown in Fig. one.

A schematic view of the body of the described mobile robot for carrying out emergency rescue operations related to extinguishing a fire with a tracked chassis mounted on it and different positions of the front and rear auxiliary rotary tracks is shown in Fig. 2.

A light-class mobile robot for rescue operations related to extinguishing a fire on floating objects consists of: body 1 with tracked chassis 2 installed on it, front 3 and rear 4 auxiliary rotary tracks, a drive part with a battery located inside the body ( not shown in the figure), a manipulator with a mechanical gripper 5, made on the basis of intelligent servos 6, catapult 7 for a self-operating powder fire extinguisher 8 (in contact with a flame), a coil with a cable 9 intended for possible reception and transmission of a signal to the control panel, control systems and video surveillance in the form of a single unit 10 on a tilt-rotary platform 11, mounted on a manipulator.

MRTP has a dustproof, moistureproof, heatproof, explosion-proof, radiation-resistant design. It is completely sealed and can operate in rain, snow and dust. Able to overcome water obstacles of 1 meter.

MRTP is stored in a standard waterproof compact Pelican-type case. The case performs a protective function in an extremely wide temperature range, withstands extremely high and low temperatures, is able to withstand diving to depth, while the positive buoyancy reserve allows the case to stay afloat indefinitely. The robot is lightweight and can be carried by one person in a special case or backpack. It is easy to use and does not require any special skills to operate.

The battery can be changed in the field without the use of tools and can be charged from the mains, generator or car cigarette lighter. This allows for continuous use of the robot by rotating the batteries.

A mobile robot for fire-fighting rescue operations is used as follows:

The case with MRTP is carried by one person to the place of emergency rescue operations related to extinguishing a fire on floating objects. The mobile robot is getting ready for work. The catapult 7 is cocked and put on the stopper, a self-operating powder fire extinguisher 8 in the form of a "tablet" or one of the Platonic solids (in the form of a tetrahedron, or octahedron, or icosahedron, or hexahedron (cube), or dodecahedron) is placed and fixed on its lodgment.

Depending on the operating mode of the mobile robot "Channel" or "Cable", the digital control signal is sent to the transmitter of the remote control channel with antenna 12 or to the cable communication channel, respectively.

The "Channel" operating mode is used when using MRTP on a pier, quay wall, upper deck of an emergency floating object.

In the event of emergency rescue operations related to extinguishing a fire in the interior of a floating object, the "Cable" operating mode is used. In this case, the coil with the remote control cable 9 can be connected to the corresponding connector of the control panel and provide the transmission of control commands from the control panel to the MRTP board, transmission of commands for activating special equipment, reception of TV signals, telemetry data, gas analysis data from the robot board to the control panel management. Remote control cable reel 10 provides positioning, free winding and reeling of control cables up to 200 meters in length.

Depending on the “Channel” or “Cable” operating mode, digital control signals are sent to the microprocessor of the onboard part of the remote control channel from the receiver or from the transmitter-receiver via twisted pair. Control signals, before arriving at the appropriate control objects (vehicle engines, manipulator, rotary LED spotlights 13, TV signal switch), are sent to the control units via the CAN bus (RS232), where the voltage and flow signals are amplified accordingly.

The movement of the MRTP is carried out by sprocket motors driving the tracks. By changing the direction of rotation of the sprocket motors, you can change the direction of the MRTP movement. When the star motors of both sides rotate in the same direction, the MRTP performs a rectilinear motion. When the starboard motors of the left and right sides rotate in different directions, the MRTP rotates in place. When turning right (left), the right (left) track moves back, the left (right) - forward. When the MRTP stops moving, there is a dynamic braking of the electric motors of the sprocket motors.

On the marching (straight-line without obstacles) section, the front 3 and rear 4 auxiliary tracks are deployed to the stowed position. In order to climb up and down the ladders of floating objects, the front 3 and / or rear 4 auxiliary tracks are deployed to the position for overcoming obstacles. To increase cross-country ability when avoiding obstacles, movement with increased ground clearance is provided. MRTP is able to stand upright after turning to the side or back. This allows you to continue working in the event of emergency situations and to increase the operational stability of the robot in dangerous places of its use (figure 2).

Navigation on the ground or indoors is carried out by integrating information from 14 odometry sensors installed on the caps of star motors, with information received from a laser scanner 15, a stereo vision system 16, an inertial measuring system on MEMS - sensors 17 and GPS / GLONASS receivers 18.

A laser scanner 15 and a stereo vision system 16 enable the robot to automatically detect obstacles and correct the trajectory to avoid a collision. This significantly reduces the burden on the operator and allows you to successfully complete the job in difficult conditions.

When moving, MRTP builds three-dimensional digital maps of the route traveled. Digital route maps allow the robot to make transitions in a semi-automatic mode in the absence of radio communication. Digital maps are built on the basis of data received from a laser scanner 15, inertial sensors 17, odometry sensors 14, a stereo vision system 16 and a GPS / GLONASS receiver 18. In the event of a complete loss of communication with the control panel, the mobile robot completes the mission, based on three-dimensional digital maps traversed route, returns to the starting point.

With the help of MRTP in the compartments and internal premises of the emergency floating object in conditions of smoke and high level of thermal impact, reconnaissance and search for a fire source is carried out.

Due to the fact that the MRTP is equipped with front 3 and rear 4 auxiliary rotary tracks, and the control and video surveillance system in the form of a single unit 10 is installed on a tilt-rotary platform 11, the robot is able to inspect the premises of an emergency floating object without penetration: to look through the windows and breaks from lifting the control and video surveillance system in the form of a single block 10 to a great height, look into the compartment located below the deck without going down the inner ladder (Fig. 2).

The operator receives the necessary information for the performance of work using a television system: an overview TV camera with a zoom 20 (optical magnification 24 times), a stereo vision system 16 (from two TV cameras), a rear-view camera (not shown in the figure); thermal imager 19; acoustic communication channel 21; multichannel portable gas analyzer 22. If necessary, rotary LED spotlights are used 13. The video image in the form of an electrical video signal from the cameras is fed to the signal switch located in the TV control unit of the onboard part of the robot. From the switch, the signal from the selected camera is sent either to the signal transmitter or to the transmitter via twisted pair (when the MRTP is operated via cable).

When a fire source is detected in the initial stage, the command "Volley" is sent from the remote control. At this command, the telescopic guide 23 of the catapult 7 is extended, the fixing bar 24 of the self-operating powder fire extinguisher 8 moves aside, the catapult 7 is removed from the stopper and the fire extinguisher 8 is thrown into the fire. Following this, MRTP automatically reverses, the telescopic guide 23 of the catapult 7 returns to its original position.

The self-firing powder fire extinguisher 8 has a hollow corrugated cardboard body, inside which there is a fire extinguishing agent and an initiating device made in the form of a pyrotechnic charge equipped with an ignition cord, the end of which is brought out and fixed on the outer surface of the body. The outer surface of the housing can be coated with a heat-shrinkable film or a protective coating in the form of liquid rubber over the ignition cord. As a fire extinguishing agent, a free-flowing powder is used, designed to extinguish fires of class A (solid combustible substances), B (liquid substances), C (gaseous substances) and E (electrical installations under voltage up to 1000 V). The pyrotechnic charge is made in the form of a household firecracker. The fire extinguisher response time does not exceed 10 seconds. Fire extinguisher when triggered

provides extinguishing of the source of fire in rooms with a volume of up to 36 m ³ .

Rescue operations are carried out using a manipulator. The manipulator consists of a supporting-rotary device 25, an arm 26, a forearm 27, a gripper 5 and intelligent servos 6. The grip 5 consists of gripper jaws 28, a rotation mechanism 29 and a compression-opening mechanism of the gripper jaws 30. The gripper rotation angle is not limited. The manipulator has six orienting degrees of mobility: rotation about the vertical axis, lifting (lowering) the shoulder 26, swinging the forearm 27, rotation and tilt of the tilt-rotary platform 11, rotation of the gripper 5.

When the MRTP returns to the launch point after the completion of work in the compartments and internal rooms of the emergency floating object in conditions of narrowness and blockage of the passages with debris, the MRTP can move in reverse. In this case, the operator receives the necessary information for movement using a rear-view camera (not shown in the figure), or by deploying a control and video surveillance system in the form of a single unit 10 using a tilt-rotary platform 11.

In terms of its technical parameters, a useful model of a light-class mobile robot for conducting emergency rescue operations related to extinguishing a fire, in comparison with the MRK-RP mobile robot adopted as a prototype [1, 2], has the least weight, dimensions and increased cross-country ability, which allows to increase the efficiency and safety during rescue operations related to extinguishing fires on floating objects using a light mobile robot,

In general, the use of a useful model of a light-class mobile robot for conducting emergency rescue operations related to extinguishing a fire in the Navy will create a scientific and technical groundwork and a technical advantage of the Navy over third-party organizations in the field of rescue technology.

Literature:

1. Fireman.Club - site URL: https://fireman.club/conspects/tema-sovremennye-sredstva-provedeniya-avarijno-spasatelnyx-rabot-i-obespecheniya-pozharotusheniya-mrk-rp-mrup-sp-g-tv -u-40 /.

2. NII SM NUK SM MSTU im. N.E. Bauman. СМ4-1 department - website URL: https://nism.bmstu.ru/otdelyi-nii-sm/sm4-l/mobilnyi-komplex-legkogo-klassa.

Claims (1)

A mobile robot for rescue operations related to extinguishing fires on floating objects, consisting of a body with a tracked chassis mounted on it, a drive part with a battery located inside the body, a control system, a video surveillance system, a manipulator with a mechanical gripper, and made with the ability to receive and transmit signals to the control panel, which is a portable computer with joysticks, characterized in that it has front and rear auxiliary rotary tracks, a catapult for a powder self-triggering fire extinguisher in contact with a flame, and control and video surveillance systems are assembled in the form of a single unit on a rotary platform mounted on a manipulator made on the basis of intelligent servo drives.

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