WO2020062623A1 - Robot de reconnaissance de lutte contre l'incendie - Google Patents

Robot de reconnaissance de lutte contre l'incendie Download PDF

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Publication number
WO2020062623A1
WO2020062623A1 PCT/CN2018/121928 CN2018121928W WO2020062623A1 WO 2020062623 A1 WO2020062623 A1 WO 2020062623A1 CN 2018121928 W CN2018121928 W CN 2018121928W WO 2020062623 A1 WO2020062623 A1 WO 2020062623A1
Authority
WO
WIPO (PCT)
Prior art keywords
reconnaissance robot
fire
heat
cooling
temperature resistant
Prior art date
Application number
PCT/CN2018/121928
Other languages
English (en)
Chinese (zh)
Inventor
唐飞
徐延泷
谢立杰
陈进
Original Assignee
北京力升高科科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京力升高科科技有限公司 filed Critical 北京力升高科科技有限公司
Publication of WO2020062623A1 publication Critical patent/WO2020062623A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels

Definitions

  • the invention relates to the technical field of robots, in particular to a fire-fighting robot.
  • firefighting robots need to rush to the fire scene with the firefighters after the fire, and assist or replace the firefighters in the fire scene for information collection, auxiliary fire fighting and personnel search and rescue operations.
  • the object of the present invention is to provide a fire detection reconnaissance robot, instead of special operators, entering a high-temperature dangerous environment, and performing image acquisition, gas detection, and other information in fire scenes, metallurgical furnaces, and other scenarios. Reconnaissance work such as collection and identification of dangerous sources.
  • the fire detection reconnaissance robot includes a sensor system, a control system, and an execution mechanism, and further includes a heat insulation shell and a cooling system;
  • the heat-insulating shell is provided outside the reconnaissance robot, and a heat-insulating layer is provided thereon;
  • the cooling system is located inside the heat-insulating casing, and is used for cooling and cooling the inside of the reconnaissance robot;
  • the sensor system and the control system are located inside the heat-insulating housing.
  • the sensor system is used for image acquisition, danger source identification, and gas detection at a high temperature site;
  • the control system is used to control the work of the reconnaissance robot and external communication;
  • the execution mechanism is configured to perform a movement or obstacle crossing operation of the reconnaissance robot.
  • the sensor system is one or more of a thermal imager component, a binocular camera, and a gas sensor.
  • the external casing further includes a thermal camera head, a casing upper cover and a thermal protection case, and the thermal camera head, the casing upper cover and a thermal protection case. Heat insulation layers are provided respectively.
  • thermal protection housing is provided with a docking locking block for positioning and locking the reconnaissance robot by the carrying robot.
  • the actuator further includes a high temperature resistant transmission system, a DC motor, and a high temperature resistant wheel, wherein:
  • the DC motor is fixedly installed on the heat insulation case
  • the high temperature resistant transmission system is drivingly connected to the DC motor and drivingly connected to the high temperature resistant wheels.
  • each of the high temperature resistant wheels is independently moved under the driving of the high temperature resistant transmission system.
  • the cooling system further includes a cold source tank, a cooling liquid, and a circulation system thereof for cooling the inside of the heat-insulating casing.
  • the fire-fighting reconnaissance robot of the present invention can work alone or in cooperation with a carrying robot, enter a high-temperature site for operation, and has better maneuverability.
  • FIG. 1 is a schematic diagram of an external structure of a reconnaissance robot according to the present invention.
  • FIG. 2 is a schematic diagram of the internal structure of a reconnaissance robot according to the present invention.
  • 101 is the thermal camera pan / tilt case
  • 102 is the upper cover of the case
  • 103 is the power switch
  • 104 is the antenna opening
  • 105 is the upper cover lock of the case
  • 106 is the thermal protection case
  • 107 is the docking lock block
  • 108 is High temperature resistant wheels
  • 201 is a thermal imager component
  • 202 is a body frame
  • 203 is a cold source box
  • 204 is a control system
  • 205 is a motor drive component
  • 206 is a cooling system
  • 207 is a gas sensor
  • 208 is a battery pack
  • 209 is High temperature resistant transmission system
  • 210 is motor
  • 211 is binocular sensor.
  • FIG. 1 is a schematic diagram of an external structure of a reconnaissance robot according to the present invention
  • FIG. 2 is a schematic diagram of an internal structure of a reconnaissance robot according to the present invention.
  • the reconnaissance robot of the present invention includes,
  • the thermal imager pan / tilt casing 101, the casing upper cover 102, and the thermal protection casing 106 are all provided with a heat insulation layer, and together with the body frame 202, constitute a heat insulation casing of the present invention.
  • the casing upper cover lock 105 is installed on the thermal protection casing 106 for locking the thermal protection casing 106 and the casing upper cover 102;
  • the antenna opening 104 is located on the housing upper cover 102 and is configured to receive the antenna
  • the docking and locking block 107 is located on the thermal protection housing 106 and is used for the positioning and locking of the reconnaissance robot by the carrying robot;
  • the thermal imager assembly 101 is disposed on the body frame 202;
  • the battery pack 208 is disposed on the body frame 202 for providing energy to the system;
  • the control system 204 is disposed inside the body frame 202 and is used to control the communication between the reconnaissance robot and the outside world;
  • the DC motor 210 is fixedly mounted on the body frame 202 and is electrically connected to the battery pack 208;
  • the high-temperature resistant transmission system 209 is installed on the body frame 202 and is drivingly connected to the DC motor 210;
  • the four high-temperature resistant wheels 108, the high-temperature resistant transmission system 209, and the DC motor 210 constitute an execution mechanism of the present invention, and are used to perform a movement of a reconnaissance robot or to overcome obstacles.
  • the cooling system 206 is disposed between the control system 204 and the thermal imager module 201;
  • the motion of the reconnaissance robot is jointly driven by four high temperature resistant wheels 108, and each high temperature resistant wheel 108 is connected to a DC motor 210 through a high temperature resistant transmission system 109, which can independently control the movement.
  • the sensor system is mainly used for external information collection, and includes a thermal imaging camera head 201, a thermal imaging camera module 101, a binocular camera 211, and a gas sensor 207.
  • the gas sensors 207 are all arranged inside the casing. Thermal imaging cameras and binocular cameras need to use a lens group with a thermal insulation structure that passes through a thermally insulated housing to ensure that the light path is unobstructed and will not be damaged by high ambient temperatures.
  • the gas sensor 207 needs to use a separate gas pipeline to draw external air through the thermal protection layer and cool the external air so that the sensor can work normally.
  • the gimbal is used to drive the sensor to move in order to increase the detection range of the sensor.
  • the gimbal itself has independent thermal protection and internal cooling functions to protect the sensor from working normally at high temperatures.
  • the cooling system 206 is used for cooling the heating elements such as the motor and the circuit board inside the casing.
  • the cooling system 206 includes a cold source box 203 for absorbing heat, a cooling liquid for transferring heat from the heating components to the cold source, and a circulation system thereof. .
  • the control system 204 is used to control the robot to communicate with the outside world, and the battery is used to provide energy.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot de reconnaissance de lutte contre l'incendie, comprenant un système de capteur, un système de commande (204) et un mécanisme d'exécution, et comprenant en outre une coque d'isolation thermique et un système de refroidissement (206), la coque d'isolation thermique étant disposée à l'extérieur du robot de reconnaissance et étant pourvue d'une couche d'isolation thermique ; le système de refroidissement (206) est situé à l'intérieur de la coque d'isolation thermique pour refroidir l'intérieur du robot de reconnaissance ; et le système de capteur ainsi que le système de commande (204) sont situés à l'intérieur de la coque d'isolation thermique. Le robot de reconnaissance de lutte contre l'incendie peut non seulement fonctionner seul, mais peut également fonctionner en coopération avec un robot porteur, et fonctionne dans le domaine des hautes températures et présente de grandes caractéristiques de manœuvre.
PCT/CN2018/121928 2018-09-29 2018-12-19 Robot de reconnaissance de lutte contre l'incendie WO2020062623A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811145273.XA CN109141650A (zh) 2018-09-29 2018-09-29 一种消防用侦察机器人
CN201811145273.X 2018-09-29

Publications (1)

Publication Number Publication Date
WO2020062623A1 true WO2020062623A1 (fr) 2020-04-02

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Application Number Title Priority Date Filing Date
PCT/CN2018/121928 WO2020062623A1 (fr) 2018-09-29 2018-12-19 Robot de reconnaissance de lutte contre l'incendie

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CN (3) CN109141650A (fr)
WO (1) WO2020062623A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110180113B (zh) * 2019-06-05 2020-11-24 山东国兴智能科技股份有限公司 一种集群式消防机器人协作侦察灭火方法
CN111388920B (zh) * 2020-03-25 2021-03-09 北京力升高科科技有限公司 一种耐高温灭火机器人及其工作方法
CN111982177A (zh) * 2020-10-26 2020-11-24 北京力升高科科技有限公司 一种传感器热防护装置、方法及消防机器人
CN112589811A (zh) * 2020-12-07 2021-04-02 苏州阿甘机器人有限公司 一种消防救援机器人及其工作方法

Citations (5)

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Publication number Priority date Publication date Assignee Title
US20110232925A1 (en) * 2010-03-29 2011-09-29 Al-Azemi Hadi A Fire fighting robot
CN205216015U (zh) * 2015-11-28 2016-05-11 重庆成吉消防材料有限公司 一种消防灭火机器人的降温冷却装置
CN106267645A (zh) * 2016-08-16 2017-01-04 中国科学技术大学 一种水动力消防机器人
CN107233680A (zh) * 2017-05-19 2017-10-10 芜湖普唯特智能装备有限公司 一种消防机器人
CN107626063A (zh) * 2017-10-25 2018-01-26 佛山赛威光电技术有限公司 一种能净化烟气且实用性强的消防机器人

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CN205059776U (zh) * 2015-10-15 2016-03-02 唐晓南 一种消防用耐高温履带车履带
CN105963885A (zh) * 2016-06-27 2016-09-28 刘磊 智能消防巡查灭火机器人
CN106964090A (zh) * 2017-04-28 2017-07-21 苏州亮磊知识产权运营有限公司 一种自动切换灭火介质的消防机器人及其控制方法
CN107087379A (zh) * 2017-05-19 2017-08-22 芜湖普唯特智能装备有限公司 一种电控箱冷却系统

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110232925A1 (en) * 2010-03-29 2011-09-29 Al-Azemi Hadi A Fire fighting robot
CN205216015U (zh) * 2015-11-28 2016-05-11 重庆成吉消防材料有限公司 一种消防灭火机器人的降温冷却装置
CN106267645A (zh) * 2016-08-16 2017-01-04 中国科学技术大学 一种水动力消防机器人
CN107233680A (zh) * 2017-05-19 2017-10-10 芜湖普唯特智能装备有限公司 一种消防机器人
CN107626063A (zh) * 2017-10-25 2018-01-26 佛山赛威光电技术有限公司 一种能净化烟气且实用性强的消防机器人

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CN109141650A (zh) 2019-01-04
CN209927298U (zh) 2020-01-10
CN110696013A (zh) 2020-01-17

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