4.1 Robot machine: 1. Name: Fire extinguishing robot 2. Model: RXR-M120D 3. Basic functions: fire suppression, toxic and harmful gas
reconnaissance and other functions; 4. Implementation of fire industry standards: "GA 892.1-2010 Fire
robot Part 1 General Technical Conditions" 5. Power: fuel power, diesel engine 6. Size: ≤ Length 2090mm× width 1550mm× height 1530mm 7. Steering diameter: left ≤2900mm; Right ≤2900mm 8. Weight: ≥1350kg 9.Traction: ≥8.07KN 10.Water flow: 121.7L/s 11.Foam flow rate: 120.6L/s 12. Water/foam range: ≥96.5m water, ≥92.3m foam 13. Load capacity: can drag the load mass ≥400kg, can drag the hose
to turn 14. Ground clearance: ≥270mm 15. Maximum linear speed: ≥3.61m/s, remote control stepless speed
change 16. Straight running deviation (%) : ≤0.4 17. Braking distance: ≤0.3m 18. Climbing ability: ≥25° 19.Obstacle height: ≥300mm 20. Roll stability Angle: ≥25° 21. Wading depth: ≥300mm 22. Fuel tank capacity 50L, full oil continuous operation time 6.5h 23. Reliability working time: through 16 hours of continuous
stability and reliability test 24. Remote control distance: ≥1000m 25. Accessory device: with hose rack, DN80 fire hose can be
configured 120 meters 26. Autonomous laser obstacle avoidance function: The detection
distance is 50 meters, the obstacle is encountered within 5 meters
ahead, the speed is halved, the obstacle is encountered within 2
meters, and the automatic stop is realized 27. Automatic spray cooling function: The robot comes with water
spray protection function, which is opened during fire
extinguishing operation 28. Robot flame retardant track (optional) : fire robot track to
use flame retardant anti-static high temperature rubber; The inside
of the track is a metal skeleton; Track anti-derailment protection
design; 29. Hose automatic shedding function (optional) : remote control
operation to achieve automatic shedding of hose, to ensure that the
robot can return lightly after completing the task; 30. Control terminal: handheld digital integrated wireless remote
control and wired remote control. 4.2Robot power system: 1. Engine: domestic famous brand four-stroke in-line four-cylinder
water-cooled diesel engine; 2. Engine rated power (kW/rpm) : ≥30.1/2400; 3. Emission standard :GB 20891-2014 Stage IV (non-road Country IV) 4. Robot hydraulic interface can be connected to hydraulic breaking
tools, hydraulic generators, hydraulic high-pressure water pumps,
hydraulic welding machines and other special hydraulic equipment 5. Closed double pump: capacity 17.1ml+17.1ml; Rated pressure
25MPa+25MPa; Maximum speed 3600 rpm; 6. Gear pump: displacement 14ml; Rated pressure 16MPa; Rated speed
3600 rpm; 7. System pressure: walking pressure 25MPa; 8. System and control mode: the main system is electric
proportional pump control closed walking system; The auxiliary
system is open type quantitative pump + electronic control switch
valve system; 9. Walking drive: the number of driving motors is 2; Maximum
continuous torque 1620NM, rated working pressure 31.5MPa; Maximum
input flow 198.9L/min. 4.3 Robot fire extinguishing system: 1. Fire cannon: automatic pressure regulating fire cannon 2. Fire extinguishing agent type: water or foam 3. Gun body material: aluminum alloy 4. Working pressure (Mpa) : 1.0 (MPa) 5. Injection mode: DC, atomization and self-pendulum 6.Water flow: 121.7L/s 7.Foam flow rate: 120.6L/s 8. Water/foam range (m) : ≥96.5m water, ≥92.3m foam 9. Rotation Angle: horizontal -90° ~ 90°, vertical -10° ~ 90° 10. Maximum spray Angle: 120° 11. Communication method: CAN bus 12. Pt-head camera: PT-head camera, camera resolution 1080P, 2
million pixels, 25 times optical amplification, minimum
illumination: color: 0.05ux@ (F1.6, AGC ON); Black and white: 0.01@
(F1.6, AGC ON), wide dynamic 120 db, support ICR infrared filter
type automatic switching, wide Angle 60°. 13. Infrared hot eye tracking function (optional) : With infrared
hot eye tracking function, heat source detection and tracking
through infrared thermal imaging. 14. Foam gun tube: replaceable foam tube, replacement method is
quick insert, fire water cannon can spray water, foam and mixed
liquid, to achieve a multi-purpose gun. 4.4 Robot reconnaissance system: Through the configuration of gas instrument, environmental
monitoring module, infrared camera, infrared thermal camera, pickup
and other vehicle equipment, can be the accident site of toxic and
harmful gases, environmental conditions in disaster areas, video,
audio for remote reconnaissance; Equipped with explosion-proof
lifting platform equipped with environmental detection sensors and
cameras, to achieve the site at different heights of toxic
combustible gas, audio and video, environmental measurement and
analysis; 1. Reconnaissance system configuration (optional) : 6
explosion-proof infrared cameras, 1 multi-parameter detector, 1
temperature and humidity detector 2. Gas and environment sensing detection module (optional) : loaded
with wireless emergency rescue rapid deployment detection system
and temperature and humidity detector, can detect: CO2: 0-5%VOL CH4: 0-100%VOL CO: 0-1000ppm H2S: 0-100ppm CL2:0-1000ppm NH3:0-100ppm O2:0-30% O2 H2:0-1000ppm Temperature range: -25°C to 60°C Humidity range: 0% RH to 90% RH 3. Infrared temperature measurement function: the car is equipped
with infrared temperature sensors inside and outside, which are
used to monitor the internal temperature of the car body and the
field temperature (-50-350°C). 4.5 Robot video and audio perception: 1. Number and configuration of cameras: The video system consists
of 7 fixed high-definition infrared cameras on the fuselage to
realize 360-degree panoramic images of the front and back
directions and the robot body; 2. Camera illumination: the body camera can provide clear images at
0.001LUX low illumination, dynamic anti-shake; The camera should be
able to effectively and clearly collect the scene situation at zero
illumination and display it on the LCD screen of the operating
terminal 3. Panoramic monitoring function: 360-degree image of the robot
body can be displayed remotely 4. Camera core parameters: 1) Camera resolution 1080P, 2 million pixels, 25 times optical
magnification. 2) Minimum illumination: Color: 0.05ux@ (F1.6, AGC ON); Black and
white: 0.01@ (F1.6, AGC ON) 3) Wide Angle Angle 60°, wide dynamic 120 db 4) Support ICR infrared filter type automatic switching, 3D digital
noise reduction, strong light suppression, backlight compensation,
area focusing, 120dB ultra-wide dynamic, electronic anti-vibration 5) Resolution and frame rate: main stream 50Hz:25fps(1920 x
1080,1280×960,1280×720); 60Hz: 30fps(1920×1080,1280×960,1280×720) Sub-stream 50Hz:25fps(704×576,640×480,352×288); 60 hz: 30 FPS (704
* 480640 * 480352 * 240) Three-stream
50Hz:25fps(1920×1080,1280×960,1280×720,704×576,640×480,352×288); 60
hz: 30 FPS (1920 * 1080128 * 960128 * 720704 * 480640 * 480352 *
240) 5.Camera protection level: IP66 6. Technical requirements for sound acquisition: remote sound
collection can be used to understand the situation of trapped
personnel. The pickup pickup distance is 5 meters, the frequency
range is 20Hz ~ 20kHz, and the sensitivity is ≥40dB 7. Infrared Thermal imager (optional) : 1) Equipped with infrared thermal imager, sensor type: vanadium
oxide uncooled detector 2) Resolution 384 × 288, frame rate 50 Hz: 50 fps, pixel size 17μm,
response band 8-14μm, thermal imaging lens focal length 9.7mm,
maximum aperture value 1.0, thermal imaging close-up distance 1.5m,
temperature measurement distance 9m, field of view Angle 37.5° ×
28.5° 3) Temperature measurement range -20 ℃-150 ℃ or 0 ℃-550 ℃, accuracy
±2℃, support a variety of temperature measurement functions: point,
line and frame temperature measurement, highlight the highest
temperature through the cross cursor, detect and track the heat
source; 4) The infrared thermal imager has image anti-jitter function,
supporting a variety of pseudo-color, 3D noise reduction, manual
AGC image detail enhancement, shutter correction, optical
transmittance correction and other functions 5) It has the function of image acquisition and real-time
transmission; With visual fire source search function. And the
testing equipment must be explosion-proof, the original certificate
for reference 4.6 Wireless Remote Control Configuration Parameters 1. Dimensions: 410*310*70mm (excluding rocker height) 2. Weight: 6.5kg 3. Display: a high brightness OLED LCD screen of no less than 10
inches, touch, image, digital integration of high integrated screen
more convenient to carry, self-developed fire robot operating
system 4. Control system platform: Control system platform: window
operating system /Android operating system 5. Working hours: 8h 6. Basic functions: remote control and monitor integrated portable
design, matching ergonomic strap; It can be watched and controlled
at the same time, stably present the environment image around the
scene to the remote operator, and can display the battery, robot
slope Angle, toxic and harmful gas concentration alarm information
in real time, and control the robot's forward, backward, turning
and other movements; Control the water cannon to do up, down, left,
right, DC, atomization, self-oscillation and other actions. Image
anti-jitter function; It has the function of collecting and
transmitting 360-degree panoramic images in front, behind and
around the robot in real time. The data transmission method is
wireless transmission using encrypted signals. 7. Panoramic monitoring function: 360-degree image of the robot
body can be displayed remotely 8. Video recording and playback function: you can record video at
any time, automatically save the recorded video content, you can
directly open the video playback in the remote control terminal,
you can also copy the video to other devices 9.With screen projection function: through the HDMI interface can
be connected to projectors and other screen projection equipment,
the robot collected to the rescue scene real-time picture and data
through the projection equipment display, can facilitate the
operation of the command staff to discuss decision-making 10. Walking control function: through a three-axis industrial
rocker, to achieve the robot forward, backward, left, right turn
flexible operation 11. Fire cannon control function: through a three-axis industrial
rocker, to control the water cannon to do up, down, left, right,
DC, atomization action 12. Control the lifting switch of the reconnaissance system:
through the self-reset point switch 13. Video switch: through the self-reset point switch to achieve 14. Control the automatic drag hose function: through the
self-reset point switch 15. Lighting control function: through the self-reset point switch,
the upper computer does self-locking response 16. Auxiliary tools: handheld remote control terminal shoulder
strap, movable tripod 17. Portable remote control (optional) : equipped with portable
remote control handle, small shape, easy to use, more convenient
and quick connection in the process of car body transfer, improve
the efficiency of operators, reduce the burden of operators 4.7 Wired Remote Control . 1. Overall size: 189×172×80mm mm (excluding the height of the
rocker) 2. Weight: 6.5kg 3. Wire control distance (cable length) : 10m 4. Control range: emergency stop, walking, fire gun pitching,
rotation, DC, atomization | 
