WO2021190366A1 - 一种耐高温灭火机器人及其工作方法 - Google Patents

一种耐高温灭火机器人及其工作方法 Download PDF

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Publication number
WO2021190366A1
WO2021190366A1 PCT/CN2021/081194 CN2021081194W WO2021190366A1 WO 2021190366 A1 WO2021190366 A1 WO 2021190366A1 CN 2021081194 W CN2021081194 W CN 2021081194W WO 2021190366 A1 WO2021190366 A1 WO 2021190366A1
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Prior art keywords
high temperature
temperature resistant
robot
thermal protection
resistant
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Ceased
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PCT/CN2021/081194
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English (en)
French (fr)
Inventor
唐飞
徐延泷
罗刚
陈进
李明旭
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Beijing Lesen Technology Co Ltd
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Beijing Lesen Technology Co Ltd
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Priority to EP21775610.5A priority Critical patent/EP3991804A4/en
Priority to JP2022500955A priority patent/JP7584809B2/ja
Priority to US17/768,230 priority patent/US12083367B2/en
Publication of WO2021190366A1 publication Critical patent/WO2021190366A1/zh
Anticipated expiration legal-status Critical
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    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C27/00—Fire-fighting land vehicles
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C31/00—Delivery of fire-extinguishing material
    • 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
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C31/00—Delivery of fire-extinguishing material
    • A62C31/02—Nozzles specially adapted for fire-extinguishing
    • A62C31/24—Nozzles specially adapted for fire-extinguishing attached to ladders, poles, towers, or other structures with or without rotary heads
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C37/00—Control of fire-fighting equipment
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D17/00—Arrangements for circulating cooling fluids; Arrangements for circulating gas, e.g. air, within refrigerated spaces
    • F25D17/02—Arrangements for circulating cooling fluids; Arrangements for circulating gas, e.g. air, within refrigerated spaces for circulating liquids, e.g. brine
    • 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

Definitions

  • the invention relates to the technical field of fire-fighting robots, in particular to a high-temperature-resistant fire-fighting robot and a working method thereof.
  • fire-fighting robots need to accompany the firefighters to the fire scene after a fire breaks out, and assist or replace the firefighters in the fire scene to perform operations such as information collection, auxiliary fire fighting, and personnel search and rescue.
  • the main function of many existing fire-fighting robots is to carry out auxiliary work such as remote fire-fighting or towing water hoses on the periphery of the fire scene. Since it is impossible to achieve deep fire protection functions on existing products, it is difficult to provide firefighters with substantial assistance in tasks such as collecting on-site information, extinguishing fire sources, and personnel search and rescue.
  • thermal protection For high-temperature environment protection, although there are currently industrial applications of related technologies, it is necessary to cover the entire machine with a thermal protection shell. Therefore, it is difficult to provide reliable auxiliary transmission mechanisms such as the crawler chassis used by the current high-mobility fire-fighting robots. Protection.
  • the main form of thermal protection currently adopted is self-injecting water mist to cool down. Although this method has a certain cooling effect, it is difficult to ensure that the cooling scheme of the robot does not ensure that the temperature of the large-scale fire scene is close to 1000 °C. damage.
  • the purpose of the present invention is to provide a high-temperature-resistant fire-fighting robot, which can perform mobile and fire-fighting operations in a high-temperature environment.
  • the present invention provides a high temperature fire extinguishing robot, which includes a high temperature resistant robot chassis system and a high temperature resistant turret system, wherein:
  • the high temperature resistant robot chassis system is equipped with a high temperature resistant turret system for movement and obstacle crossing, and provides energy for the high temperature resistant turret system, and further includes a high temperature resistant crawler drive system, a thermal protection system, and a control and sensing system.
  • the high temperature resistant track drive system is located outside the thermal protection system, and the control and sensing system is located inside the thermal protection system;
  • the high temperature resistant turret system which performs fire extinguishing and cooling operations on the external environment, further includes a water monitor, a water monitor thermal protection structure, and a cooling circulation system, where the water monitor and the cooling circulation system are located in the water monitor thermal protection structure internal;
  • the water cannon thermal protection structure is closed
  • the thermal protection structure of the water cannon is opened, and the water cannon performs fire extinguishing operations.
  • the thermal protection structure of the water cannon includes an opening and closing protection door and a main protection shell of the turret.
  • the high temperature resistant turret system further includes a water cannon camera or a thermal imager.
  • the thermal protection system includes a thermal protection shell, a high-temperature resistant electrical and refrigeration interface component, and a high-temperature resistant hose interface component.
  • the high temperature resistant electrical and refrigeration interface assembly includes a sealing cover locker, a high temperature resistant gasket, a heat insulation panel, a power switch, a charging interface, a refrigeration interface and a heat insulation sealing cover.
  • the refrigeration interface includes a cooling liquid inlet and a cooling liquid outlet.
  • the high temperature resistant hose interface assembly includes a hose interface, a heat insulation end cover, a high temperature resistant fiber braided tube and an end cover fixing seat.
  • it also includes a cold source and a cooling circulation system for cooling the inside of the heat protection housing.
  • control and sensing system includes a main control system, a communication system, a power management system, a high temperature resistant camera system, a high temperature resistant lighting assembly and a high temperature resistant antenna.
  • the high temperature resistant lighting assembly and the high temperature resistant antenna passes through the heat protection housing for information collection and transmission of information to the outside world.
  • a radar component also includes a radar component and a chassis optical sensor component.
  • the present invention also provides a working method of a high temperature fire extinguishing robot, which includes the following steps:
  • the high temperature resistant robot In the high temperature resistant state, the high temperature resistant robot enters or passes through the high temperature fire field to conduct exploration and investigation operations;
  • the high-temperature resistant robot arrives at the designated work area, opens the heat-insulating end cover to connect the hose, opens the openable and closable protective door, the water cannon starts to spray water, and the high-temperature resistant robot changes from the high-temperature protection state to the fire-extinguishing state;
  • step 1) before closing the water cannon heat protection structure, it further includes the step of making the temperature of the cold source reach a predetermined temperature: refrigerating the cold source through an external cooling system, replacing the cold storage agent of the cold source, or Replace the cold source; when the temperature of the cold source reaches a predetermined temperature, cut off the external cooling system.
  • the robot By adopting systematic thermal protection treatment on the whole robot chassis and the water cannon, the robot has the ability to carry out long-term movement and fire-fighting operations under high temperature;
  • Figure 1 is a side view of the whole machine of the high temperature fire extinguishing robot according to the present invention.
  • Figure 2 is a schematic diagram of the composition of the high temperature fire extinguishing robot according to the present invention.
  • Fig. 3 is a schematic diagram of the structure of the whole machine in a high temperature resistant protection state according to the present invention.
  • Figure 4 is a schematic diagram of the entire machine structure of the robot fire extinguishing operation state according to the present invention.
  • Figure 5 is a schematic diagram of a high temperature resistant electrical and refrigeration interface assembly according to the present invention.
  • Figure 6 is a schematic diagram of a high temperature resistant hose interface assembly according to the present invention.
  • Fig. 7 is a schematic diagram of the internal system composition (removing the turret and the upper cover) of the high temperature fire extinguishing robot according to the present invention.
  • Fig. 1 is a side view of the whole machine of a high temperature fire extinguishing robot according to the present invention.
  • the high temperature fire extinguishing robot of the present invention includes a high temperature resistant robot chassis system 1 and a high temperature resistant turret system 2, wherein,
  • the high temperature resistant robot chassis system 1 is used to carry the high temperature resistant turret system 2 to move and cross obstacles. It is equipped with some sensing devices and serves as the main body to provide the high temperature resistant turret system with energy and working media such as coolant, electricity, and fire water.
  • the high temperature resistant robot chassis system 1 of the present invention includes a high temperature resistant track drive system, a thermal protection system, and a control and sensing system, among which,
  • High temperature resistant track drive system used for carrying robots to move and overcome obstacles. It mainly includes high temperature resistant track 101, high temperature resistant driving wheel 102, high temperature resistant suspension system 103, high temperature resistant and thermally insulated transmission system, reduction motor 508, battery 507, and driver.
  • the heat-resistant and heat-insulated transmission system mainly includes a hard shaft for transmission and an outer heat insulation layer.
  • the driver is a servo driver, which is a controller used to control one or more parameters of the motor position, speed, and torque.
  • the thermal protection system is used to protect the robot from extinguishing fire in a high temperature environment. It mainly includes a thermal protection shell 302, a high temperature resistant electrical and refrigeration interface assembly 301, and a high temperature resistant hose interface assembly 303.
  • the thermal protection system also includes a cold source 503 for cooling the inside of the heat protection housing 302 (the body of the cold source is a cold storage agent, initially at a low temperature, and absorbs heat through heating, phase change, or a combination of the two), a cooling cycle system 504 .
  • a cold source 503 for cooling the inside of the heat protection housing 302 (the body of the cold source is a cold storage agent, initially at a low temperature, and absorbs heat through heating, phase change, or a combination of the two), a cooling cycle system 504 .
  • the control and sensing system includes the main control system 505, the power management system 506, the communication system 501, the high temperature resistant camera system 403, the high temperature resistant lighting assembly 402, the high temperature resistant antenna 404, etc.
  • the high temperature resistant camera system 403 includes a camera, a high temperature resistant lens, and a lens cooling device.
  • Fig. 3 is a schematic diagram of the structure of the whole machine in a high-temperature protection state according to the present invention.
  • the thermal protective housing 302 for information collection and transmission of information or capabilities to the outside world.
  • the remaining components and the control and sensing system are all located inside the thermal protection housing 302 so as to be properly protected in a high temperature environment.
  • control and sensing system also includes a radar component 401 and a high temperature camera system 403.
  • the radar component 401 may be a millimeter-wave radar, which is used to detect the location and distance of surrounding obstacles, thereby providing environmental information for obstacle avoidance and navigation of the robot.
  • FIG. 5 is a schematic diagram of a high-temperature resistant electrical and refrigeration interface assembly according to the present invention. As shown in FIG. One or more of the switch 314, the charging interface 317, and the cooling interface.
  • the electrical interface is provided with a fixed-axis flip-type or rotating-open type heat-insulating sealing cover 318, which ensures thermal protection performance at high temperatures when closed, and can be opened and operated on the interface under non-high temperature conditions.
  • it also includes an emergency stop switch not shown in the figure, which is used for the rapid shutdown of the robot, and has the same function as the emergency stop switch of conventional production equipment.
  • a power display not shown in the figure which is used to display the remaining battery power, which can be a liquid crystal or multi-color LED display, and the display mode can be a direct display of a percentage, a step display or a low-battery indicator warning.
  • the refrigeration interface includes a cooling liquid inlet 315 and a cooling liquid outlet 316.
  • FIG. 6 is a schematic diagram of a high temperature resistant hose interface assembly according to the present invention.
  • the high temperature resistant hose interface assembly 303 is composed of a hose interface 332 and an insulating end cover 335.
  • the heat-insulating end cover 335 is used to protect the hose interface 332 from being damaged by high temperature before use, and can be automatically opened or removed by external force before the hose is connected.
  • the high temperature resistant hose interface assembly further includes a high temperature resistant fiber braided tube 333 and an end cover fixing seat 334.
  • Fig. 7 is a schematic diagram of the internal system composition (removing the turret and the upper cover) of the high-temperature fire extinguishing robot according to the present invention.
  • the high-temperature resistant turret system 2 including the thermal protection structure of the water cannon, the cooling circulation system 504, the water cannon 203, the sprinkler system, etc., is used to protect the water cannon system and perform sprinkler operations.
  • the sprinkler system includes a sprinkler head, a pipeline for connecting the sprinkler head and a water monitor water supply system, and a valve for controlling the on-off of the pipeline.
  • the water cannon thermal protection structure of the high temperature turret system 2 includes an openable and closable protective door 201 and a main protective shell 202 of the turret.
  • FIG. 4 is a schematic diagram of the whole machine structure of the robot fire extinguishing operation state according to the present invention.
  • the high temperature resistant turret system 2 further includes a water cannon camera or a thermal imager 204.
  • the thermal protection structure of the water cannon of the high temperature resistant turret system 2 has an open-close or dynamic protection structure that matches the range of motion of the water cannon 203, so that the spray angle and position of the water cannon 203 need to be adjusted in a wide range during the working process. .
  • Both the high temperature resistant robot chassis system 1 and the high temperature resistant turret system 2 have a thermal protection structure and a cooling system to ensure that the fire extinguishing robot does not damage or affect its function due to high temperature during travel or operation in a high temperature environment.
  • the high temperature resistant robot chassis system 1 and the high temperature resistant turret system 2 should jointly or separately ensure a good heat seal to prevent large amounts of external heat from being conducted into the heat protection shell to damage internal components.
  • fire extinguishing robots need to adopt different work processes.
  • the fire extinguishing robot will have two different structural states. They are heat-resistant protection state and fire extinguishing operation state.
  • the turret In the high temperature protection state, the turret is closed, and the external interfaces such as the hose and switch are closed, and the whole machine is in a high thermal protection performance. In this state, it is necessary to ensure the normal operation of the chassis and some sensors and electronic control systems used to control the robot's progress. The robot moves to the designated working position in this state.
  • the thermal protection shell of the hose interface is opened or removed, the hose is connected, and the water monitor has the ability to spray water. Then the heat protection shell that blocks the movement and spray range of the water cannon is removed or removed, and the water cannon starts to work.
  • the robot is not only cooled by its own internal cooling system, but also cooled by the water mist sprayed by the water cannon and spray head.
  • the water cannon and turret can be reset and switched to a high temperature state in order to safely exit the fire scene.
  • the work flow of the high temperature fire extinguishing robot is as follows:
  • this embodiment includes the openable and closable protective door 201, the heat-insulating sealing cover 318, and the heat-insulating end cover 335), and the robot is transformed into a high-temperature protection state;
  • the robot enters or passes through the high-temperature fire field under high-temperature protection, and conducts exploration and detection operations.
  • the robot can close each sealed and insulated interface, pass through the high temperature area again, or directly drive away from the non-high temperature area after the fire extinguishing and cooling operation is completed.

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Abstract

一种耐高温灭火机器人，包括，耐高温机器人底盘系统和耐高温炮塔系统，其中，所述耐高温机器人底盘系统，其搭载耐高温炮塔系统进行移动及越障，并为耐高温炮塔系统提供能源，进一步包括，耐高温履带驱动系统、热防护系统和控制及传感系统，所述耐高温履带驱动系统位于所述热防护系统外部，所述控制及传感系统位于所述热防护系统内部；所述耐高温炮塔系统，其对外部环境进行灭火降温作业，进一步包括，水炮、水炮热防护结构和冷却循环系统，所述水炮和所述冷却循环系统位于所述水炮热防护结构内部；在耐高温防护状态下，所述水炮热防护结构闭合；在灭火工作状态下，所述水炮热防护结构张开，水炮进行灭火作业。

Description

一种耐高温灭火机器人及其工作方法 技术领域
本发明涉及消防机器人技术领域，特别是涉及一种耐高温灭火机器人及其工作方法。
背景技术
消防机器人作为辅助消防员执行危险任务的工具，需要在火灾发生后随消防员一同奔赴火灾现场，并在火灾现场辅助或替代消防员进行信息收集、辅助灭火及人员搜救等操作。
对于消防员的工作来说，真正具有迫切需求并且危险性最高的作业为在火场内的人员搜救及灭火工作。被困火场内的人员安全风险最高，需要第一时间进行搜救转移。而对大部分火灾场景，尤其是针对大跨度空间、地下火灾、石油化工火灾等，不深入火场，也无法对火源进行有效扑灭。
现有很多消防机器人主要功能是在火场外围进行远程灭火或拖运水带等辅助工作。由于无法在现有产品上做到深入火灾现场的防护功能，因此很难在搜集现场信息、扑灭火源及人员搜救等任务上为消防员提供实质性的帮助。
对于高温环境防护，虽然目前有相关技术的工业应用，但是需要在机器外整体覆盖热防护壳体，因此对于目前高机动性消防机器人所采用的履带式底盘等辅助的传动机构很难提供可靠的防护。对于消防行业的机器人，目前主要采取的热防护形式为自身喷射水雾降温，该方法虽然具有一定的降温作用，但对于大型火灾现场近1000℃的环境温度，这种降温方案很难保证机器人不损坏。
另外当对于需要进行现场作业的机器人，还需要对作业部分进行妥善防护，比如以水炮作为作业部分的灭火机器人，由于目前市面上没有耐高温水炮，所以目前也没有水炮灭火机器人具备深入火场作业的能力。
由于以上原因，目前市面上还没有一种能够深入高温火灾现场同时能够在火灾现场进行作业的消防机器人。
发明内容
为了解决现有技术存在的不足，本发明的目的在于提供一种耐高温消防机器人，其能够在高温环境中进行移动及灭火作业。
为实现上述目的，本发明提供的一种耐高温灭火机器人，包括耐高温机器人底盘系统和耐高温炮塔系统，其中，
所述耐高温机器人底盘系统，其搭载耐高温炮塔系统进行移动及越障，并为耐高温炮塔系统提供能源，进一步包括，耐高温履带驱动系统、热防护系统和控制及传感系统，所述耐高温履带驱动系统位于所述热防护系统外部，所述控制及传感系统位于所述热防护系统内部；
所述耐高温炮塔系统，其对外部环境进行灭火降温作业，进一步包括，水炮、水炮热防护结构和冷却循环系统，所述水炮和所述冷却循环系统位于所述水炮热防护结构内部；
在耐高温防护状态下，所述水炮热防护结构闭合；
在灭火工作状态下，所述水炮热防护结构张开，水炮进行灭火作业。
进一步地，所述水炮热防护结构包括开合式防护门和炮塔主防护壳。
进一步地，所述耐高温炮塔系统还包括水炮摄像机或热像仪。
进一步地，所述热防护系统包括，热防护外壳、耐高温电气及制冷接口组件和耐高温水带接口组件。
进一步地，所述耐高温电气及制冷接口组件包括密封盖锁止器、耐高温密封垫、隔热面板、电源开关、充电接口、制冷接口和隔热密封盖。
进一步地，所述制冷接口包括冷却液进口和冷却液出口。
进一步地，所述耐高温水带接口组件包括，水带接口、隔热端盖、耐高温纤维编织管和端盖固定座。
进一步地，还包括，对所述热防护外壳内部进行冷却的冷源和冷却循环系统。
进一步地，所述控制及传感系统包括，主控制系统、通信系统、电源管理系统、耐高温摄像系统、耐高温照明组件和耐高温天线。
进一步地，所述耐高温摄像系统、所述耐高温照明组件和所述耐高温天线 的部分结构穿过所述热防护外壳，用于进行信息采集并将信息传输至外界。
进一步地，还包括雷达组件和底盘光学传感器组件。
为实现上述目的，本发明还提供一种耐高温灭火机器人的工作方法，包括以下步骤：
1)关闭水炮热防护结构的可开闭防护门、电气接口处的隔热密封盖，以及耐高温水带接口组件的隔热端盖，进入耐高温防护状态；
2)在耐高温状态下，耐高温机器人进入或穿过高温火场，进行探索及侦查作业；
3)耐高温机器人到达指定作业区域，打开所述隔热端盖连接水带，打开所述可开闭防护门，水炮开始喷水作业，耐高温机器人从耐高温防护状态转为灭火状态；
4)完成灭火作业后，移开水带，关闭所述隔热端盖和所述可开闭防护门，耐高温机器人从灭火状态转为耐高温防护状态。
进一步地，所述步骤1)中，在关闭所述水炮热防护结构之前，还包括使冷源温度达到预定温度的步骤：通过外部冷却系统对冷源进行制冷、更换冷源的蓄冷剂或更换冷源；当冷源温度达到预定温度时，切断外部冷却系统。
进一步地，完成灭火作业后，切换为耐高温防护状态，退出火场。
本发明的耐高温灭火机器人及其工作方法，具有以下有益效果：
1)通过对机器人底盘整体及水炮采用了系统的热防护处理，使机器人具备在高温下进行长时间移动及灭火作业的能力；
2)解决了现有机器人因防护性能不足导致的无法深入火场灭火导致的灭火效率低，以及机器人在周围突然高温情况下导致损坏的问题，极大的提高了灭火效率及机器人可靠性；
3)通过耐高温炮塔与耐高温底盘组合的灭火机器人形式，将水炮与底盘的热防护问题进行拆解并分别解决，在降低了原有整体解决热防护问题技术难度的同时，也便于根据需要对不同性能规格的水炮与动力底盘进行匹配集成。
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明 书中变得显而易见，或者通过实施本发明而了解。
附图说明
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，并与本发明的实施例一起，用于解释本发明，并不构成对本发明的限制。在附图中：
图1为根据本发明的耐高温灭火机器人整机侧视图；
图2为根据本发明的耐高温灭火机器人组成示意图；
图3为根据本发明的耐高温防护状态整机结构示意图；
图4为根据本发明的机器人灭火作业状态整机结构示意图；
图5为根据本发明的耐高温电气及制冷接口组件示意图；
图6为根据本发明的耐高温水带接口组件示意图；
图7为根据本发明的耐高温灭火机器人内部系统组成(移除炮塔及上盖)示意图。
具体实施方式
以下结合附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。
图1为根据本发明的耐高温灭火机器人整机侧视图，如图1所示，本发明的耐高温灭火机器人，包括耐高温机器人底盘系统1和耐高温炮塔系统2，其中，
耐高温机器人底盘系统1，用于搭载耐高温炮塔系统2进行移动及越障，搭载部分传感设备，并作为主体向耐高温炮塔系统提供冷却液、电能、消防水等能源及工作介质。本发明的耐高温机器人底盘系统1，包括，耐高温履带驱动系统、热防护系统，以及控制及传感系统，其中，
耐高温履带驱动系统，用于搭载机器人进行移动及越障。主要包括耐高温履带101、耐高温驱动轮102、耐高温悬挂系统103、耐高温隔热传动系统、减速电机508、电池507、驱动器。
具体地，耐高温隔热传动系统主要包括用于传动的硬轴，及其外部的隔热层。
具体地，驱动器为伺服驱动器，用于实现电机位置、速度和力矩其中一个或多个参数控制的控制器。
热防护系统，用于保护机器人在高温环境中进行灭火作业。主要包括热防护外壳302、耐高温电气及制冷接口组件301，耐高温水带接口组件303，。
具体地，热防护系统还包括对热防护外壳302内部冷却的冷源503(冷源主体为蓄冷剂，初始为低温，通过升温、相变或二者结合的形式吸收热量)、冷却循环系统504。
控制及传感系统，包括主控制系统505、电源管理系统506、通信系统501、耐高温摄像系统403、耐高温照明组件402、耐高温天线404等。
具体地，耐高温摄像系统403包括摄像机，耐高温镜头，及镜头冷却装置。
图3为根据本发明的耐高温防护状态整机结构示意图，如图3所示，除自身全部或部分具有耐高温性能的耐高温履带101，耐高温驱动轮102，耐高温悬挂系统103处于热防护壳302外部，耐高温摄像系统、耐高温照明系统402、耐高温天线404均有部分结构穿过热防护外壳302，以便进行信息采集及将信息或能力传输至外界。其余部件和控制及传感系统均位于热防护外壳302内部，以便在高温环境中被妥善防护。
具体地，控制及传感系统还包括雷达组件401和耐高温摄像系统403。
具体地，雷达组件401可以是毫米波雷达，用于探测周围障碍物的位置和距离，进而为机器人的避障及导航提供环境信息。
图5为根据本发明的耐高温电气及制冷接口组件示意图，如图5所示，耐高温电气及制冷接口组件301包括密封盖锁止器311、耐高温密封垫312、隔热面板313、电源开关314、充电接口317、制冷接口中一个或多个。电气接口处设有固定轴翻盖式或旋转开盖式的隔热密封盖318，关闭时保证高温下热防护性能，非高温状态下可打开并对接口进行操作。
优选地，还包括图中未示出的急停开关，用于机器人快速停机，与常规生产设备的急停开关作用一致。
优选地，还包括图中未示出的电量显示，用于显示电池剩余电量，可以为液晶或者多色LED显示，显示模式可以为百分数直接显示，阶梯显示或者低电量指示灯预警。
优选地，制冷接口包括冷却液进口315，冷却液出口316。
图6为根据本发明的耐高温水带接口组件示意图，如图6所示，耐高温水带接口组件303由水带接口332及隔热端盖335组成。隔热端盖335用于保护水带接口332在使用前不因高温损坏，在接上水带前可自动打开或靠外力去除。
具体地，耐高温水带接口组件还包括耐高温纤维编织管333和端盖固定座334。
图7为根据本发明的耐高温灭火机器人内部系统组成(移除炮塔及上盖)示意图，如图7所示，还包括热防护层502，用于隔绝外部高温保护机器人内部系统不被损坏。
耐高温炮塔系统2，包括水炮热防护结构、冷却循环系统504、水炮203、喷淋系统等，用于保护水炮系统和进行喷水灭火作业。
具体地，喷淋系统包括喷淋头、用于连接喷淋头与水炮供水系统的管路，及用于控制该管路通断的阀。
图2为根据本发明的耐高温灭火机器人组成示意图，如图2所示，耐高温炮塔系统2的水炮热防护结构包括可开闭防护门201和炮塔主防护壳202。
图4为根据本发明的机器人灭火作业状态整机结构示意图，如图4所示，耐高温炮塔系统2还包括水炮摄像机或热像仪204。
优选地，耐高温炮塔系统2的水炮热防护结构具有匹配水炮203运动范围的开合式或动态防护式结构，用于水炮203在工作过程中其喷射角度和位置需要做大范围的调整。
耐高温机器人底盘系统1和耐高温炮塔系统2均具有热防护结构和冷却系统，以保证灭火机器人在高温环境中行进或作业过程中不因高温损坏或影响功能。
在耐高温防护状态，耐高温机器人底盘系统1和耐高温炮塔系统2应共同或各自保证良好的热密封，以防外界热量大量传导到热防护壳体内损坏内部器件。
通过耐高温炮塔与耐高温底盘组合的灭火机器人形式，将水炮与底盘的热防护问题进行拆解并分别解决，在降低了原有整体解决热防护问题技术难度的同时，也便于根据需要对不同性能规格的水炮与动力底盘进行匹配集成。
根据炮塔及接口的防护形式不同，灭火机器人需要采用不同的工作流程。以开合式炮塔为例，灭火机器人将具有两种不同的结构状态。分别为耐高温防护状态和灭火作业状态。
在耐高温防护状态下，炮塔关闭，水带及开关等外部接口关闭，整机处于较高的热防护性能。该状态下需要保证底盘及部分用于控制机器人前进的传感器及电控系统正常工作。机器人在该状态下运动至指定工作位置。
在灭火工作状态下，水带接口热防护壳体被打开或去除，水带连接，水炮具备喷水能力。随后阻挡水炮运动及喷射范围的热防护壳体被移开或去除，水炮开始工作。该状态下机器人除通过自身的内部冷却系统进行冷却外，还同时由水炮及喷淋头喷出的水雾进行冷却降温。
灭火机器人在完成灭火作业后，如果环境温度仍然较高或撤出过程中需要经过高温区域，可以对水炮及炮塔进行复位，切换为耐高温状态，以便安全退出火场。
下面结合一具体实施例对本发明的一种耐高温灭火机器人及其工作方法作进一步的说明，以开合式炮塔为例，该耐高温灭火机器人工作流程如下：
1.通过外部冷却系统对冷源的蓄冷剂进行制冷，也可以通过直接更换冷源的蓄冷剂或者更换冷源的形式，使冷源温度达到预定温度；
2.达到预定温度后切断外部冷却系统；
3.关闭机器人上的各密封隔热接口(本实施方案中包括可开闭防护门201，隔热密封盖318，隔热端盖335)，机器人转化为耐高温防护状态；
4.机器人在耐高温防护状态下进入或穿过高温火场，进行探索及侦查作业。
5.达到指定作业区域后打开水带接口热防护结构(本实施方案中为隔热端盖335)，连接水带。水带中输送的冷却水使水带及水带接口保持较低温度，持续工作。
6.打开水炮热防护结构(本实施方案中为可开闭式防护门201)，水炮开始喷水作业。炮塔内部及机器人本体可使用辅助喷头进行持续降温。
7.完成作业后，机器人可关闭各密封隔热接口，再次穿过高温区域或者在完成灭火降温作业后直接由非高温区域驶离。
本领域普通技术人员可以理解：以上所述仅为本发明的优选实施例而已，并不用于限制本发明，尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (13)

  1. 一种耐高温灭火机器人，其特征在于，包括，耐高温机器人底盘系统和耐高温炮塔系统，其中，所述耐高温机器人底盘系统，其搭载耐高温炮塔系统进行移动及越障，并为耐高温炮塔系统提供能源，进一步包括，耐高温履带驱动系统、热防护系统和控制及传感系统，所述耐高温履带驱动系统位于所述热防护系统外部，所述控制及传感系统位于所述热防护系统内部；
    所述耐高温炮塔系统，其对外部环境进行灭火降温作业，进一步包括，水炮、水炮热防护结构和冷却循环系统，所述水炮和所述冷却循环系统位于所述水炮热防护结构内部；
    在耐高温防护状态下，所述水炮热防护结构闭合；
    在灭火工作状态下，所述水炮热防护结构张开，水炮进行灭火作业。
  2. 根据权利要求1所述的机器人系统，其特征在于，所述水炮热防护结构包括开合式防护门和炮塔主防护壳。
  3. 根据权利要求1所述的机器人系统，其特征在于，所述耐高温炮塔系统还包括水炮摄像机或热像仪。
  4. 根据权利要求1所述的机器人系统，其特征在于，所述热防护系统包括，热防护外壳、耐高温电气及制冷接口组件和耐高温水带接口组件。
  5. 根据权利要求4所述的机器人系统，其特征在于，所述耐高温电气及制冷接口组件包括密封盖锁止器、耐高温密封垫、隔热面板、电源开关、充电接口、制冷接口和隔热密封盖。
  6. 根据权利要求5所述的机器人系统，其特征在于，所述制冷接口包括冷却液进口和冷却液出口。
  7. 根据权利要求4所述的机器人系统，其特征在于，所述耐高温水带接口组件包括，水带接口、隔热端盖、耐高温纤维编织管和端盖固定座。
  8. 根据权利要求4所述的机器人系统，其特征在于，还包括，对所述热防护外壳内部进行冷却的冷源和冷却循环系统。
  9. 根据权利要求1所述的机器人系统，其特征在于，所述控制及传感系统包括，主控制系统、通信系统、电源管理系统、耐高温摄像系统、耐高温照明组件和耐高温天线。
  10. 根据权利要求9所述的机器人系统，其特征在于，所述耐高温摄像系统、所述耐高温照明组件和所述耐高温天线的部分结构穿过所述热防护外壳，用于进行信息采集并将信息传输至外界。
  11. 根据权利要求9所述的机器人系统，其特征在于，还包括雷达组件和底盘光学传感器组件。
  12. 一种耐高温灭火机器人的工作方法，其特征在于，包括以下步骤：
    1)关闭水炮热防护结构的可开闭防护门、电气接口处的隔热密封盖，以及耐高温水带接口组件的隔热端盖，进入耐高温防护状态；
    2)在耐高温状态下，耐高温机器人进入或穿过高温火场，进行探索及侦查作业；
    3)耐高温机器人到达指定作业区域，打开所述隔热端盖连接水带，打开所述可开闭防护门，水炮开始喷水作业，耐高温机器人从耐高温防护状态转为灭火状态；
    4)完成灭火作业后，移开水带，关闭所述隔热端盖和所述可开闭防护门，耐高温机器人从灭火状态转为耐高温防护状态。
  13. 根据权利要求12所述的方法，其特征在于，在所述步骤1)之前，还包括使冷源温度达到预定温度的步骤：通过外部冷却系统对冷源进行制冷、更换冷源的蓄冷剂或更换冷源；当冷源温度达到预定温度时，切断外部冷却系统。
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