CN209422813U - Remote unmanned fire fighting robot - Google Patents

Abstract

The utility model provides long-range unmanned firefighting robot, comprising: spray head, level angle regulating mechanism, pitch angle regulating mechanism；The casing is mounted on the top of pedestal by bolt；The sparge pipe is mounted on the top of casing by flange and bolt；The level angle regulating mechanism insertion is mounted on the lower part of sparge pipe；The pitch angle regulating mechanism insertion is mounted on side；The utility model passes through the improvement to long-range unmanned firefighting robot; with it is reasonable in design, can the developing state to fire correctly assessed and judged; helping the mankind to complete, some strategically located and difficult of access tasks, work efficiency is high, the protection security of the lives and property, obstacle climbing ability; landform is adaptable; it can pivot turn; field, urban environment adapt to; stair climbing, in terms of be better than wheeled robot, practical advantage, thus the problem of effective solution the utility model proposes in background technique one and deficiency.

Description

Remote unmanned fire fighting robot

technical field

The utility model relates to the technical field of electromechanical integration technology and innovative design, more specifically, it relates to a remote unmanned fire extinguishing robot.

Background technique

The emergence of fire has brought us into a civilized society, but it is also prone to fire. The number of fire casualties is staggering every year. According to statistics, the average annual fire loss in my country is nearly 20 billion yuan, and more than 2,300 people die in fires. Under normal circumstances, fires often occur when people are inadvertent, and their self-rescue awareness and ability are not enough. Even if fire drills have been carried out at ordinary times, self-rescue cannot be carried out due to the emergency. At the same time, due to the limitations of traffic and location, firefighters could not rush to the accident site in the first time. It is precisely because of this situation that we study wireless remote control fire-fighting robots to assist in fire-fighting, and carry out rescue and fire-fighting work at the first time.

In addition, there may be chemicals stored at the fire site. Due to the diversity of chemicals and the complexity of the explosion, no suitable, universal, effective, and achievable solution can be found for a while. One fire extinguishing substance may be another detonation catalysts for such substances or similar substances. Due to the explosion and the destruction of the site, the data of the explosion site may not be collected, that is, the type, quantity, storage location, etc. of chemicals. Therefore rescue is difficult, so people begin to focus on the research of fire-fighting robot.

The research and development and improvement of fire extinguishing robots are being carried out all over the world. The functions of the successfully developed fire extinguishing robots are not perfect at present. It does not have a camera function and cannot observe the real situation of the fire scene. Cause very big inconvenience, there is very big blindness, also threaten the life safety of this rescuer. In addition, it does not have a voice function, so it cannot communicate with the trapped people at the fire scene, understand the real fire situation at the fire scene more accurately, and allow rescuers to formulate the most reasonable rescue plan according to the development of the fire, so as to reduce fire losses. to the minimum.

In view of this, the existing problems are researched and improved, and remote unmanned fire-fighting robots are provided, aiming at solving problems and improving practical value through this technology.

Utility model content

The purpose of this utility model is to provide remote unmanned fire extinguishing robot, to solve the research and development and improvement of fire extinguishing robot all over the world proposed in the above-mentioned background technology, the function of the fire extinguishing robot that has been successfully developed is not perfect at present, it does not have The camera function cannot observe the real situation of the fire scene, which causes great inconvenience for rescuers to carry out rescue operations and fire fighting operations, and there is a lot of blindness, which also threatens the life safety of rescuers. In addition, it does not have a voice function, so it cannot communicate with the trapped people at the fire scene, understand the real fire situation at the fire scene more accurately, and allow rescuers to formulate the most reasonable rescue plan according to the development of the fire, so as to reduce fire losses. to the lowest problems and deficiencies.

In order to achieve the above purpose, the utility model provides a remote unmanned fire extinguishing robot, which is achieved by the following specific technical means:

Remote unmanned fire extinguishing robot, including: nozzle, water spray pipe, horizontal angle adjustment mechanism, pitch angle adjustment mechanism, antenna, camera, smoke alarm, cooling device, flame sensor, casing, water tank, water inlet, water outlet, water pump , water outlet pipe, cooling water pipe, transmitter, battery compartment, loudspeaker, pickup, human sensor module, base, chassis, drive motor, steering motor, front drive wheel, rear drive wheel, tensioner wheel, steering wheel, track; The casing is installed on the top of the base through bolts; the water spray pipe is installed on the top of the casing through flanges and bolts; the horizontal angle adjustment mechanism is embedded in the lower part of the water spray pipe; the pitch angle adjustment mechanism Embedded and installed on one side; the nozzle is embedded and installed on the top of the water spray pipe; the camera is installed on the top of the casing through bolts, and the camera is located on the front side of the water spray pipe; the smoke alarm is installed on the machine through bolts The top of the casing, and the smoke alarm is located at the rear side of the water spray pipe; the antenna is embedded and installed on the top of the casing, and the antenna is located at the rear of the smoke alarm; the cooling device is installed on the upper part of the casing, and cools The device is connected with the casing through a clamp; the transmitter is embedded and installed at the front end of the casing; the human body sensing module is embedded and installed at the front end of the casing, and the human body sensing module is located below the transmitter; the flame sensor is embedded Installed on the outer wall of the casing; the loudspeaker is embedded and installed on the outer wall of one side of the casing; the pickup is embedded and installed on the outer wall of one side of the casing, and the pickup is located on one side of the loudspeaker; The battery compartment is embedded in one side of the casing; the water inlet is arranged on the outer wall of one side of the casing, and the water inlet is connected with the water tank; the water outlet is arranged at the bottom of the water tank; the water pump is embedded in the The inner side of the water tank; the water outlet end of the water pump is connected to the water spray pipe through the water outlet pipe; one end of the cooling water pipe is connected to the water outlet pipe, and the other end of the cooling water pipe is connected to the cooling device; the chassis is arranged on the base The bottom of the chassis, and the chassis and the base are of an integrated structure; the front drive wheel is installed on the front end of the chassis by embedding; the rear driving wheel is installed on the rear of the chassis by embedding; the tension wheel is installed by embedding On the upper part of the chassis; the steering wheel is installed on the upper part of the chassis by embedding, and the tensioning wheel is located on one side of the steering wheel; the front driving wheel, rear driving wheel, tensioning wheel, steering wheel and track are engaged The drive motor is installed on the inner side of the chassis through bolts, and the output shaft of the drive motor is connected with the front drive wheel and the rear drive wheel through keys; the steering motor is installed on the inside of the chassis through bolts, and the output of the steering motor The shaft is connected to the steering wheel by a key.

As a further optimization of the technical solution, a pan-tilt is installed at the bottom of the camera of the remote unmanned fire extinguishing robot of the utility model, and the rotation angle of the camera in the horizontal direction through the pan-tilt is 360 degrees.

As a further optimization of this technical solution, the horizontal angle adjustment mechanism of the remote unmanned fire extinguishing robot of the utility model is composed of a worm gear transmission mechanism and a horizontal angle adjustment motor, and the adjustment angle of the nozzle in the horizontal direction through the horizontal angle adjustment mechanism is 360° Spend.

As a further optimization of the technical solution, the pitch angle adjustment mechanism of the remote unmanned fire extinguishing robot of the utility model is composed of a worm gear transmission mechanism and a pitch angle adjustment motor, and the adjustment angle of the nozzle in the vertical direction through the pitch angle adjustment mechanism is: 300 degrees.

As a further optimization of the technical solution, the cooling device of the remote unmanned fire extinguishing robot of the utility model is a rectangular spraying device composed of a water pipe and a water pipe connector, and the bottom of the water pipe is provided with N circular holes.

As a further optimization of the technical solution, the flame sensors of the remote unmanned fire extinguishing robot of the utility model are provided with N places in total, and the flame sensors are distributed in a linear array on the outer wall of the casing, and the model of the flame sensor is YS-17 .

As a further optimization of the technical solution, the drive motors of the remote unmanned fire extinguishing robot of the utility model are symmetrically arranged at four places on both sides of the chassis, and two drive motors are connected to the front drive wheels, and the other two drive motors are connected to the rear drive wheels. wheel connected.

As a further optimization of the technical solution, the model of the human body sensing module of the remote unmanned fire extinguishing robot of the utility model is HR-SR501 human body infrared sensing module.

As a further optimization of the technical solution, a liquid level detection sensor is embedded on the inner wall of the water tank of the remote unmanned fire extinguishing robot of the utility model, and the model of the liquid level detection sensor is EX-F1-C5.

As a further optimization of the technical solution, a temperature detection alarm is embedded in the casing of the remote unmanned fire extinguishing robot of the utility model, and the model of the temperature detection alarm is SUHED5641.

Due to the application of the above-mentioned technical solution, the utility model has the following advantages compared with the prior art:

1. The bottom of the camera of the present utility model is equipped with a pan-tilt, and the pan-tilt is provided with a rotation angle of 360 degrees in the horizontal direction of the camera, so that video images can be collected on the spot, and the collection range and area can be expanded by rotation, which is convenient Find the source of the fire to put out the fire and protect important items.

2. The horizontal angle adjustment mechanism of the utility model is composed of a worm gear transmission mechanism and a horizontal angle adjustment motor, and the adjustment angle of the nozzle in the horizontal direction through the horizontal angle adjustment mechanism is 360 degrees, and the pitch angle adjustment mechanism is composed of a worm gear transmission mechanism and The pitch angle adjustment motor is composed, and the nozzle can be adjusted to 300 degrees in the vertical direction through the pitch angle adjustment mechanism, which can greatly increase the fire extinguishing range and area, realize accurate fire extinguishing, and improve the fire extinguishing effect.

3. The cooling device of the utility model is a rectangular spraying device composed of a water pipe and a water pipe connector, and the bottom of the water pipe is provided with N round holes, which can cool down the device and prevent the device from being exposed to high temperatures. Damage occurs under the baking to ensure the normal operation of the device.

4. The flame sensor of the utility model is provided with a total of N places, and the flame sensor is distributed in a linear array on the outer wall of the casing, and the model of the flame sensor is YS-17, which can detect the on-site environment and facilitate timely discovery danger.

5. The driving motor of the utility model is symmetrically arranged at four places on both sides of the chassis, and two driving motors are connected with the front driving wheel, and the other two driving motors are connected with the rear driving wheel, so as to improve the power output of the device and make the The device can be used in various complex on-site environments, and can climb stairs by cooperating with the crawler belt, and has a wide range of actions.

6. The model of the human body sensor module of the utility model is HR-SR501 human body infrared sensor module, which can detect the human body, detect the injured in the severe fire area, find the wounded in time, and facilitate the timely treatment of the wounded.

7. A liquid level detection sensor is embedded and installed on the inner wall of the water tank of the utility model, and the model of the liquid level detection sensor is EX-F1-C5, so as to prevent insufficient water source, idling of the water pump, and damage to the equipment.

8. Through the improvement of the remote unmanned fire extinguishing robot, the utility model has a reasonable structural design, can correctly evaluate and judge the development trend of the fire, helps humans complete some dangerous tasks, has high work efficiency, protects the safety of life and property, and Obstacle ability, strong ability to adapt to terrain, can turn in situ, can adapt to field and urban environment, superior to wheeled robots in stair climbing, obstacle surmounting, etc., and has the advantages of strong practicability, thus effectively solving the problem Problems and deficiencies raised in one item of background technology.

Description of drawings

The accompanying drawings constituting a part of this application are used to provide a further understanding of the utility model, and the schematic embodiments of the utility model and their descriptions are used to explain the utility model, and do not constitute an improper limitation of the utility model. In the attached picture:

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the rear view structural representation of the utility model;

Fig. 3 is a schematic diagram of the internal structure of the water tank of the present utility model;

Fig. 4 is a structural schematic diagram of the driving device of the present invention.

In the figure: nozzle 1, water spray pipe 2, horizontal angle adjustment mechanism 3, pitch angle adjustment mechanism 4, antenna 5, camera 6, smoke alarm 7, cooling device 8, flame sensor 9, casing 10, water tank 11, inlet Water outlet 12, water outlet 13, water pump 14, water outlet pipe 15, cooling water pipe 16, transmitter 17, battery compartment 18, loudspeaker 19, pickup 20, human body induction module 21, base 22, chassis 23, drive motor 24, steering Motor 25, front drive wheel 26, rear drive wheel 27, tensioner 28, steering wheel 29, crawler belt 30.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example.

It should be noted that, in the description of the present utility model, unless otherwise specified, the meaning of "plurality" is two or more; the terms "upper", "lower", "left", "right", " The orientation or positional relationship indicated by "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the practical Novel and simplified descriptions do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the utility model.

In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

At the same time, in the description of the present utility model, unless otherwise specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection ; It can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model in specific situations.

Please refer to Fig. 1 to Fig. 4, the utility model provides the specific technical implementation scheme of the remote unmanned fire extinguishing robot:

Remote unmanned fire extinguishing robot, including: nozzle 1, water spray pipe 2, horizontal angle adjustment mechanism 3, pitch angle adjustment mechanism 4, antenna 5, camera 6, smoke alarm 7, cooling device 8, flame sensor 9, casing 10 , water tank 11, water inlet 12, water outlet 13, water pump 14, water outlet pipe 15, cooling water pipe 16, transmitter 17, battery compartment 18, loudspeaker 19, pickup 20, human body induction module 21, base 22, chassis 23, Drive motor 24, steering motor 25, front drive wheel 26, rear drive wheel 27, tensioner 28, steering wheel 29, crawler belt 30; Cabinet 10 is installed on the top of base 22 by bolt; Spray pipe 2 passes through flange and The bolt is installed on the top of the casing 10; the horizontal angle adjustment mechanism 3 is embedded and installed at the bottom of the water spray pipe 2; the pitch angle adjustment mechanism 4 is embedded and installed on one side; the nozzle 1 is embedded and installed at the top of the water spray pipe 2; the camera 6 passes Bolt is installed on the top of casing 10, and camera 6 is positioned at the front side of spray pipe 2; Smoke alarm 7 is installed on the top of casing 10 by bolt, and smoke alarm 7 is positioned at the rear side of spray pipe 2; 5 is embedded and mounted on the top of the casing 10, and the antenna 5 is located on the rear side of the smoke alarm 7; the cooling device 8 is installed on the top of the casing 10, and the cooling device 8 is connected to the casing 10 through a clamp; the transmitter 17 Embedding is installed on the front end of casing 10; Human body induction module 21 is embedded and installed on the front end of casing 10, and human body induction module 21 is positioned at the below of transmitter 17; Flame sensor 9 is embedded and installed on the outer wall of casing 10; Loudspeaker 19 is embedded on the outer wall on one side of the casing 10; the pickup 20 is embedded on the outer wall on one side of the casing 10, and the pickup 20 is located on one side of the loudspeaker 19; the battery compartment 18 is embedded on the inside of the casing 10 One side; the water inlet 12 is arranged on the outer wall of the casing 10 side, and the water inlet 12 is connected with the water tank 11; the water outlet 13 is arranged at the bottom of the water tank 11; the water pump 14 is embedded and installed on the inside of the water tank 11; the water pump 14 The water outlet end is connected with the water spray pipe 2 through the water outlet pipe 15; one end of the cooling water pipe 16 is connected with the water outlet pipe 15, and the other end of the cooling water pipe 16 is connected with the cooling device 8; the chassis 23 is arranged on the bottom of the base 22, and The chassis 23 and the base 22 have an integral structure; the front drive wheel 26 is installed on the front end of the chassis 23 by an embedded method; the rear drive wheel 27 is installed on the rear of the chassis 23 by an embedded method; the tensioning wheel 28 is installed on the chassis 23 by an embedded method The top of steering wheel 29 is installed on the top of chassis 23 by embedded mode, and tensioning wheel 28 is positioned at the side of steering wheel 29; Connected by means of engagement; drive motor 24 is installed on the inside of chassis 23 by bolts, and the output shaft of drive motor 24 is connected with front drive wheel 26 and rear drive wheel 27 by keys; steering motor 25 is installed on the inside of chassis 23 by bolts , and the output shaft of the steering motor 25 is connected with the steering wheel 29 by a key.

Concrete, the bottom of camera 6 is equipped with a pan-tilt, and the rotation angle of camera 6 in the horizontal direction is 360 degrees through the pan-tilt, which can collect video images on the spot, and can expand the collection range and area by rotation, which is convenient to find Extinguish fire from sources of fire and protect important items.

Specifically, the horizontal angle adjustment mechanism 3 is composed of a worm and gear transmission mechanism and a horizontal angle adjustment motor, and the adjustment angle of the nozzle 1 in the horizontal direction through the horizontal angle adjustment mechanism 3 is 360 degrees, which can greatly increase the fire extinguishing range and area, and achieve accurate Extinguish fire and improve fire extinguishing effect.

Specifically, the pitch angle adjustment mechanism 4 is composed of a worm and gear transmission mechanism and a pitch angle adjustment motor, and the adjustment angle of the nozzle 1 in the vertical direction through the pitch angle adjustment mechanism 4 is 300 degrees, which can greatly improve the fire extinguishing range and area, and realize Accurate fire extinguishing, improve fire extinguishing effect.

Specifically, the cooling device 8 is a rectangular spraying device composed of water pipes and water pipe connectors, and the bottom of the water pipe is provided with N round holes, which can cool down the device and prevent the device from occurring under high temperature baking. damage, to ensure the normal operation of the device.

Specifically, the flame sensor 9 is provided with N places in total, and the flame sensor 9 is distributed in a linear array on the outer wall of the casing 10, and the model of the flame sensor 9 is YS-17, which can detect the on-site environment and facilitate timely detection. danger.

Specifically, the drive motor 24 is symmetrically arranged at four places on both sides of the chassis 23, and two drive motors 24 are connected with the front drive wheel 26, and the other two drive motors 24 are connected with the rear drive wheel 27 to improve the power output of the device. , so that the device can be used in various complex on-site environments, and can climb stairs through the cooperation with the crawler belt, with a wide range of actions.

Specifically, the model of the human body sensing module 21 is HR-SR501 human body infrared sensing module, which can detect the human body, detect the injured in the severe fire area, find the wounded in time, and facilitate the timely treatment of the wounded.

Specifically, a liquid level detection sensor is embedded on the inner wall of the water tank 11, and the model of the liquid level detection sensor is EX-F1-C5, so as to prevent the water pump 14 from idling due to insufficient water source and damage the equipment.

Specifically, a temperature detection alarm is embedded in the casing 10, and the model of the temperature detection alarm is SUHED5641.

Specific implementation steps:

The inside of the device is equipped with a SIM card for information transmission, and a single-chip microcomputer for receiving control signals and controlling the device to execute control instructions, and is equipped with a WIFI module inside, which can be connected to the mobile phone through WIFI for remote control. The water tank 11 needs to be filled with water through the water inlet 12, and then controlled by the mobile phone to move the device to the fire area. At this time, the picture information of the fire scene can be collected by the camera 6 and then transmitted to the mobile phone, and the camera 6 can be controlled to rotate through the mobile phone , check the surrounding environment, find out the fire source to put out the fire, and protect important items. After finding the fire source, you can control the horizontal angle adjustment mechanism 3 and the pitch angle adjustment mechanism 4 to adjust the orientation of the nozzle 1 through the mobile phone, and then control the water pump 14 to move the water tank 11 The water is drawn out and sprayed out through the nozzle 1 to extinguish the fire. At the same time, the cooling device 8 sprays water onto the surface of the casing 10 to cool the device and prevent the device from overheating affecting the normal operation of the device. It can also be launched through the transmitter 17. The fire extinguishing bomb is used to extinguish the fire, which improves the fire extinguishing effect and efficiency. In addition, the user can also communicate with the trapped personnel through the loudspeaker 19 and the pickup 20, and comfort the trapped personnel emotionally while understanding the real situation of the fire. Compared with the traditional calling intercom, it is more convenient, more friendly, and more accurate. The device has a crawler tank chassis, has obstacle-surmounting ability, strong terrain adaptability, can climb stairs, and has a wide range of action, improving the scope of application. The device can also search for the injured through the human body sensing module 21, and report the information to the outside world through the single-chip microcomputer and the SIM card, which has strong practicability.

To sum up: the remote unmanned fire-fighting robot is equipped with a pan-tilt at the bottom of the camera, and the camera is set to rotate 360 degrees in the horizontal direction through the pan-tilt. It can expand the collection range and area, which is convenient to find the fire source for fire extinguishing and protect important objects; the horizontal angle adjustment mechanism is composed of a worm gear and worm transmission mechanism and a horizontal angle adjustment motor, and the nozzle can adjust the angle in the horizontal direction through the horizontal angle adjustment mechanism At the same time, the pitch angle adjustment mechanism is composed of a worm and gear transmission mechanism and a pitch angle adjustment motor, and the nozzle can be adjusted to 300 degrees in the vertical direction through the pitch angle adjustment mechanism, which can greatly improve the fire extinguishing range and area. Realize precise fire extinguishing and improve the fire extinguishing effect; the cooling device is a rectangular spraying device composed of water pipes and water pipe connectors, and the bottom of the water pipe is provided with N circular holes, which can cool down the device. Avoid damage to the device under high-temperature baking to ensure the normal operation of the device; there are a total of N places through the flame sensor, and the flame sensor is distributed in a linear array on the outer wall of the casing, and the model of the flame sensor is YS-17 The setting can detect the on-site environment and find dangerous situations in time; there are four symmetrically arranged drive motors on both sides of the chassis, and two drive motors are connected to the front drive wheels, and the other two drive motors are connected to the rear drive wheels. The setting of the connection improves the power output of the device, so that the device can be used in various complex on-site environments, and can climb stairs through the cooperation with the crawler belt, and has a wide range of actions; the model of the human body sensor module is HR-SR501 human body infrared sensor The setting of the module can detect the human body, detect the injured in the severe fire area, find the wounded in time, and facilitate the timely treatment of the wounded; the liquid level detection sensor is embedded and installed on the inner wall of the water tank, and the type of the liquid level detection sensor is It is set for EX-F1-C5 to prevent insufficient water source, water pump idling, and damage to equipment; through the improvement of remote unmanned fire extinguishing robot, it has a reasonable structural design, can correctly evaluate and judge the development trend of fire, and helps humans complete Some dangerous tasks, high work efficiency, protection of life and property safety, obstacle surmounting ability, strong terrain adaptability, can turn on the spot, can adapt to wild and urban environments, and is superior to wheeled robots in climbing stairs and obstacle surmounting, practical The advantage of being strong, thereby effectively solving the problems and deficiencies of the utility model in the background technology.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes and modifications can be made to these embodiments without departing from the principle and spirit of the present invention , replacements and modifications, the scope of the present utility model is defined by the appended claims and their equivalents.

Claims (1)

1. Remote unmanned fire extinguishing robot, including: nozzle (1), water spray pipe (2), horizontal angle adjustment mechanism (3), pitch angle adjustment mechanism (4), antenna (5), camera (6), smoke alarm device (7), cooling device (8), flame sensor (9), casing (10), water tank (11), water inlet (12), water outlet (13), water pump (14), water outlet pipe (15) , cooling water pipe (16), transmitter (17), battery compartment (18), loudspeaker (19), pickup (20), human body induction module (21), base (22), chassis (23), drive motor (24), steering motor (25), front drive wheel (26), rear drive wheel (27), tensioning wheel (28), steering wheel (29), crawler belt (30); it is characterized in that: the casing (10) is installed on the top of the base (22) by bolts; the water spray pipe (2) is installed on the top of the casing (10) by flanges and bolts; the horizontal angle adjustment mechanism (3) is embedded in the nozzle The lower part of the water pipe (2); the pitch angle adjustment mechanism (4) is embedded and installed on one side; the sprinkler head (1) is embedded and installed on the top of the water spray pipe (2); the camera (6) is installed by bolts At the top of the casing (10), and the camera (6) is positioned at the front side of the spray pipe (2); the smoke alarm (7) is installed on the top of the casing (10) by bolts, and the smoke alarm ( 7) Located on the rear side of the water spray pipe (2); the antenna (5) is embedded and installed on the top of the casing (10), and the antenna (5) is located on the rear side of the smoke alarm (7); the cooling device (8) installed on the top of the casing (10), and the cooling device (8) is connected with the casing (10) through a clamp; the transmitter (17) is embedded and mounted on the front end of the casing (10); the The human body sensing module (21) is embedded in the front end of the casing (10), and the human body sensing module (21) is positioned under the emitter (17); the flame sensor (9) is embedded in the casing (10) On the outer wall; the loudspeaker (19) is embedded and installed on the outer wall of the casing (10) one side; the pickup (20) is embedded and installed on the outer wall of the casing (10) one side, and the pickup (20) Located on one side of the loudspeaker (19); the battery compartment (18) is embedded on the side inside the casing (10); the water inlet (12) is arranged on the outer wall on one side of the casing (10) , and the water inlet (12) communicates with the water tank (11); the water outlet (13) is arranged at the bottom of the water tank (11); the water pump (14) is embedded and installed inside the water tank (11); the water pump The water outlet of (14) is connected with spray pipe (2) by outlet pipe (15); One end of described cooling water pipe (16) is connected with outlet pipe (15), and the other end of cooling water pipe (16) is connected with The cooling device (8) is connected; the chassis (23) is arranged on the bottom of the base (22), and the chassis (23) and the base (22) are of an integrated structure; is mounted on the front end of the chassis (23); the rear drive wheel (27) is installed on the rear of the chassis (23) by an embedded method; the tension wheel (28) is installed on the top of the chassis (23) by an embedded method ; The steering wheel (29) is installed on the top of the chassis (23) in an embedded manner, and the tension wheel (28) is positioned at one side of the steering wheel (29); the front driving wheel (26), the rear driving wheel ( 27), the tensioning wheel (28), the steering wheel (29) and the track (30) are connected by means of engagement; the drive motor (24) is installed on the inner side of the chassis (23) by bolts, and the drive motor (24) The output shaft of the front drive wheel (26) and the rear drive wheel (27) are connected by keys; the steering motor (25) is installed on the inside of the chassis (23) by bolts, and the output shaft of the steering motor (25) is connected to The wheels (29) are connected by keys. The bottom of the camera (6) is equipped with a cloud platform, and the rotation angle of the camera (6) in the horizontal direction by the cloud platform is 360 degrees; The horizontal angle adjustment mechanism (3) is composed of a worm and gear transmission mechanism and a horizontal angle adjustment motor, and the adjustment angle of the nozzle (1) in the horizontal direction through the horizontal angle adjustment mechanism (3) is 360 degrees; The pitch angle adjustment mechanism (4) is composed of a worm and gear transmission mechanism and a pitch angle adjustment motor, and the adjustment angle of the nozzle (1) in the vertical direction through the pitch angle adjustment mechanism (4) is 300 degrees; The cooling device (8) is a rectangular spraying device composed of a water pipe and a water pipe connector, and the bottom of the water pipe is provided with N circular holes; The flame sensor (9) is provided with N places altogether, and the flame sensor (9) is distributed in a linear array on the outer wall of the casing (10), and the model of the flame sensor (9) is YS-17; The drive motors (24) are symmetrically arranged at four places on both sides of the chassis (23), and two drive motors (24) are connected with the front drive wheels (26), and the other two drive motors (24) are connected with the rear drive wheels. (27) connected; The model of the human body sensing module (21) is HR-SR501 human body infrared sensing module; A liquid level detection sensor is embedded on the inner wall of the water tank (11), and the model of the liquid level detection sensor is EX-F1-C5; A temperature detection alarm is embedded in the casing (10), and the model of the temperature detection alarm is SUHED5641.