CN109045531A - A kind of warehouse line walking fire behavior crusing robot based on machine vision module - Google Patents
A kind of warehouse line walking fire behavior crusing robot based on machine vision module Download PDFInfo
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- CN109045531A CN109045531A CN201810838498.7A CN201810838498A CN109045531A CN 109045531 A CN109045531 A CN 109045531A CN 201810838498 A CN201810838498 A CN 201810838498A CN 109045531 A CN109045531 A CN 109045531A
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- machine vision
- vision module
- chassis portion
- injection pipe
- fixed
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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
- A62C31/28—Accessories for delivery devices, e.g. supports
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/04—Control of fire-fighting equipment with electrically-controlled release
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of warehouse line walking fire behavior crusing robot based on machine vision module, comprising: chassis portion；Monitor portion is rotatably arranged on the chassis portion, for shooting graphic images；Spout part is arranged in adjustable angle on the chassis portion；Fire extinguisher part is fixed on chassis portion and is detachably connected with the spout part；OpenMV machine vision module is arranged in front of chassis portion, and set line is identified in road pavement；Part is warned, is fixed on the chassis portion, for issuing alarm signal；Main control part passes through chassis portion, spout part described in circuit connection, monitor portion etc..The present invention is small in size, and compact-sized, without occupying excessive space, part is common, is easy to buy and assemble.The safe patrol monitoring that the fire-fightings such as warehouse are arranged can be achieved, ignition point can be quickly reached after detecting fire behavior and timely emergent management is carried out to small fire source.
Description
Technical field
The present invention relates to a kind of warehouse line walking fire behavior crusing robot based on machine vision module, suitable for warehouse
Daily fire behavior patrol, prevents fire, and can be handled in time small-sized fire source.
Background technique
Fire monitoring in warehouse at present mainly passes through flame sensor and is monitored to key area, but to right
It is relatively high that entire warehouse carries out monitoring cost required for conduct monitoring at all levels, and full-time staff is needed to see monitor video
It examines and ensures public security, resulting manpower and material resources cost is relatively high.The technological progress done on present society for fire monitoring can
It sees, has also had many fire monitoring early warning systems for having certain practicability in society now, for example Changchun gold is at science and technology
Filed in Co., Ltd on March 21st, 2016, application No. is CN201620216681.X, Publication No. CN205405786U's
" intelligent fire monitoring early warning control system ".But the manpower and material resources cost needed for it is not still small, for base on present society
Open position is still in the warehouse line walking fire behavior crusing robot of machine vision module.
Summary of the invention
The present invention utilizes the characteristics of Mecanum wheel omnidirectional moving, design it is a kind of based on Mecanum wheel chassis can be with
The warehouse line walking fire behavior crusing robot based on machine vision module of omnidirectional moving, solves robot freedom of motion
Problem.And accurately identifying and positioning for flame is realized by thermal imaging system, also by the fire extinguishing being equipped in robot
Invention carries out timely prevention to small fire source and handles, and solves fire hazard, and realize the alarm to personnel by fire-fighting lamp
Early warning, and pass through the visual identity function of OpenMV machine vision module, allow robot can be according to the route set
Patrol free of discontinuities is carried out, the comprehensive fire behavior patrol for warehouse is realized.
The purpose of the present invention is achieved through the following technical solutions:
A kind of warehouse line walking fire behavior crusing robot based on machine vision module, comprising:
The chassis portion of Omni-mobile；
Monitor portion is rotatably arranged on the chassis portion, for shooting graphic images；
Spout part is arranged in adjustable angle on the chassis portion；
Fire extinguisher part is fixed on the chassis portion and is detachably connected with the spout part；
OpenMV machine vision module is arranged in front of the chassis portion, and set line is known in road pavement
Not, chassis portion is made to carry out comprehensive patrol free of discontinuities to warehouse according to the route set；
Part is warned, is fixed on the chassis portion, for issuing alarm signal；
Main control part, by chassis portion, spout part described in circuit connection, monitor portion, fire extinguisher part, warning part,
OpenMV machine vision module.
Further, the chassis portion includes motor-driven Mecanum wheel, carrier frame, is fixed on chassis frame
Fire extinguisher fixed frame on frame.
Further, the warning part point includes fire-fighting lamp, and the fire-fighting lamp is used for by circuit connection main control part
Blinking light and sound an alarm the sound.
Further, the spout part includes that linear motor retainer, linear motor, injection pipe, injection pipe are fixed
Device, injection pipe point device, injection pipe supporting mechanism, the injection pipe are fixed on injection pipe branch by spraying pipe fixing device
On support mechanism, the rear end of the injection pipe supporting mechanism is movably articulated on chassis portion by injection pipe point device, front end
It is connected with the vertical output end of linear motor, the linear motor is fixed on chassis portion by linear motor retainer.
Further, the injection pipe fixing device includes that the shape arc pressuring plate, the door latch type that match with injection pipe are fast
One end of fast clamp, the arc pressuring plate is connected by bolt with injection pipe supporting mechanism side, and the other end passes through door latch type
Active grab is connected with the injection pipe supporting mechanism other side.
Further, the fire extinguisher part includes fire extinguisher, the handle switch drive connection with the fire extinguisher
Electric driving mechanism, the electric driving mechanism include spindle motor, lead screw, compress piece, are fixed on the lead screw spiral shell for compressing on piece
Female, the spindle motor is fixed on the fixation handle of handle switch, the activity for compressing piece and being fixed on handle switch
On handle, one end of the lead screw connects lead screw motor output shaft, and the other end is matched with feed screw nut, the spindle motor and
Main control part circuit connection.
Further, the monitor portion includes thermal imaging system bracket, thermal imaging system fixed frame, thermal imaging system, first
Steering engine, the thermal imaging system bracket are fixed on chassis portion, and first steering engine is fixed on the thermal imaging system bracket, institute
The output end for stating the first steering engine is fixedly connected with thermal imaging system fixed frame, and the thermal imaging system is fixed on the thermal imaging system and fixes
On frame, the thermal imaging system and the first steering engine are connected by circuit with main control part.
It further, further include wireless communication module, for sending the image of alarm signal and thermal imaging system to warehouse
Fire prevention monitoring management equipment.
Further, the firefighting of warehouse safety supervision management equipment includes mobile monitoring terminal, positioned at monitoring room
Monitor host computer
Further, the OpenMV machine vision module includes OpenMV camera and OpenMV machine vision module branch
Frame, the OpenMV camera be fixed on OpenMV machine vision module bracket and with main control part circuit connection, it is described
OpenMV machine vision module bracket is bolted in front of carrier frame.
Compared with the existing technology, the invention has the advantages that and technical effect:
1. carrying out early warning and detection to warehouse fire behavior by robot, it is possible to reduce the cost of fire monitoring.
2. carrying out heat source monitoring by thermal imaging system, not only warehouse image can be provided to firefighting of warehouse security control personnel
Information, while heat source information can be provided to firefighting of warehouse security control personnel.
3. the present invention is small in size, mechanism is compact, without occupying excessive space.
4. part of the present invention is very common, it is easy to part purchase and assembly.
5. the raising of freedom degree may be implemented by Mecanum wheel omnidirectional moving chassis, can be given after detecting fire behavior
Quickly reach ignition point.
6. carrying out line walking by OpenMV machine vision module, robot may be implemented according to the route set to warehouse
Carry out comprehensive patrol free of discontinuities.
Detailed description of the invention
Fig. 1 is that the present invention is based on the overall structure diagrams of the warehouse line walking fire behavior crusing robot of machine vision module.
Fig. 2 is that the present invention is based on the side views of the warehouse line walking fire behavior crusing robot of machine vision module.
Fig. 3 is that the present invention is based on the top views of the warehouse line walking fire behavior crusing robot of machine vision module.
Fig. 4 is that the present invention is based on the front views of the warehouse line walking fire behavior crusing robot of machine vision module.
Fig. 5 is that the present invention is based on the rearviews of the warehouse line walking fire behavior crusing robot of machine vision module.
Fig. 6 is chassis portion schematic diagram of the present invention.
Fig. 7 is chassis portion top view of the present invention.
Fig. 8 is fire extinguisher partial schematic diagram of the present invention.
Fig. 9 is spout part side view of the present invention.
Figure 10 is spout part schematic diagram of the present invention.
Figure 11 is monitor portion schematic diagram of the present invention.
Figure 12 is monitor portion front view of the present invention.
Figure 13 is OpenMV machine vision module schematic diagram of the present invention.
Figure 14 is OpenMV camera schematic diagram of the present invention.
Figure 15 is OpenMV machine vision module support schematic diagram of the present invention.
Wherein, 1- chassis portion, 2- spout part, 3- injection pipe, 4- monitor portion, 5- fire extinguisher part, 6- fire-fighting lamp,
7- Mecanum wheel, 8- fire extinguisher fixed frame, 9- carrier frame, 10- fire extinguisher, 11- spindle motor, 12- lead screw, 13-
Thick stick nut, 14- compress piece, 15- linear motor retainer, 16- linear motor, 17- injection pipe fixing device, 18- injection pipe branch
Point device, 19- injection pipe supporting mechanism, 20- thermal imaging system bracket, 21- thermal imaging system fixed frame, 22- thermal imaging system, 23- the
One steering engine, 24-OpenMV machine vision module, 25-OpenMV camera, 26-OpenMV machine vision module bracket.
Specific embodiment
For a better understanding of the invention, specific embodiments of the present invention are described further with reference to the accompanying drawing.
As shown in Figures 1 to 6, a kind of warehouse line walking fire behavior crusing robot based on machine vision module, comprising:
The chassis portion 1 of Omni-mobile；
Monitor portion 4 is rotatably arranged on the chassis portion 1, for shooting graphic images；
Spout part 2 is arranged in adjustable angle on the chassis portion 1；
Fire extinguisher part 5 is fixed on the chassis portion 1 and is detachably connected with the spout part 2；
OpenMV machine vision module 24, setting is in 1 front of chassis portion, and set line carries out in road pavement
Identification makes chassis portion 1 carry out comprehensive patrol free of discontinuities to warehouse according to the route set；
Part is warned, is fixed on the chassis portion 1, for issuing alarm signal；
Main control part passes through chassis portion 1, spout part 2 described in circuit connection, monitor portion 4, fire extinguisher part 5, warning part
Divide, OpenMV machine vision module 24.
As shown in fig. 7, the chassis portion 1 includes motor-driven Mecanum wheel 7, carrier frame 9, is fixed on bottom
Fire extinguisher fixed frame 8 on disk frame 9.
As shown in Figure 1, the warning part point includes fire-fighting lamp 6, the fire-fighting lamp 6 passes through circuit connection main control part,
For blinking light and sound an alarm the sound.
As shown in figure 9, the spout part 2 includes linear motor retainer 15, linear motor 16, injection pipe 3, injection
Pipe fixing device 17, injection pipe point device 18, injection pipe supporting mechanism 19, the injection pipe 3 pass through injection pipe fixing device
17 are fixed on injection pipe supporting mechanism 19, and the rear end of the injection pipe supporting mechanism 19 passes through 18 activity of injection pipe point device
It is hinged on chassis portion 1, front end is connected with the vertical output end of linear motor 16, and the linear motor 16 passes through straight-line electric
Machine retainer 15 is fixed on chassis portion 1.
The injection pipe fixing device 17 includes arc pressuring plate, the door latch type active grab that shape matches with injection pipe 3,
One end of the arc pressuring plate is connected by bolt with 19 side of injection pipe supporting mechanism, and the other end is quickly pressed from both sides by door latch type
Pincers are connected with 19 other side of injection pipe supporting mechanism.The quick fixation to injection pipe 3 can be realized by door latch type active grab
And disassembly.
As shown in figure 8, the fire extinguisher part 5 includes fire extinguisher 10, the handle switch driving with the fire extinguisher 10
The electric driving mechanism of connection, the electric driving mechanism include spindle motor 11, lead screw 12, compress piece 14, are fixed on compression
Feed screw nut 13 on piece 14, the spindle motor 11 is fixed on the fixation handle of handle switch, the compression piece 14
It is fixed on the flexible handle of handle switch, one end of the lead screw 12 connects 11 output shaft of spindle motor, the other end and lead screw
Nut 13 matches, the spindle motor 11 and main control part circuit connection.
As shown in Figure 11 to Figure 12, the monitor portion 4 include thermal imaging system bracket 20, thermal imaging system fixed frame 21,
Thermal imaging system 22, the first steering engine 23, the thermal imaging system bracket 20 are fixed on chassis portion 1, and first steering engine 23 is fixed
On the thermal imaging system bracket 20, the output end of first steering engine 23 is fixedly connected with thermal imaging system fixed frame 21, described
Thermal imaging system 22 is fixed on the thermal imaging system fixed frame 21, and the thermal imaging system 22 and the first steering engine 23 pass through circuit and master
Control part is connected.
In addition, the present embodiment further includes wireless communication module, for sending the image of alarm signal and thermal imaging system to
Firefighting of warehouse safety supervision management equipment, the firefighting of warehouse safety supervision management equipment include mobile monitoring terminal, are located at
The monitoring host computer of monitoring room
As shown in FIG. 13 to 15, the OpenMV machine vision module 24 includes OpenMV camera 25 and OpenMV machine
Device vision module bracket 26, the OpenMV camera 25 is fixed on OpenMV machine vision module bracket 26 and and main control part
Parallel circuit connection, the OpenMV machine vision module bracket 26 are bolted on 9 front of carrier frame.
As shown in Figure 6, Figure 7, chassis is realized by the motion control to four Mecanum wheels 7 in shown chassis portion 1
Partial omnidirectional moving improves the freedom of motion of robot.After monitor portion 4 finds fire behavior, chassis portion is controlled
Divide 1 quick omnidirectional moving to advance to ignition point, realizes preliminary treatment quick for ignition point.Pass through fire extinguisher fixed frame
8 pairs of fire extinguishers 10 carry out mechanical position limitations, both can be convenient for disassembly and assembly or stablize fixed fire extinguishing 10.Carrier frame 9 realizes
The stabilization of robot carrying platform and firm.
As shown in figure 8, realizing the pressing injection for fire extinguisher 10 in fire extinguisher part 5.Fire is found in robot
It quickly can tentatively be put out a fire after feelings.Wherein spindle motor 11 rotates, and drives lead screw 12 to rotate, then drive feed screw nut 13
It moves downward, and feed screw nut 13 and compression piece 14 are rigidly connected, therefore compression piece 14 is driven to move downward, to realize
The pressing of fire extinguisher 10 is sprayed.The injection pipe nozzle of fire extinguisher 10 and the nozzle of injection pipe 3 in spout part 2 are removable
The engagement of dress formula, therefore, fire extinguisher 10 is arbitrarily to replace without changing other mechanisms of robot, in warehouse
When storing object difference, used fire extinguisher type is different, therefore easy dismounting fire extinguisher is to improve practicability
One of them measure.
As shown in Fig. 9 Figure 10, spout part 2 realizes from standard of the fire extinguisher 10 to ignition point and cuts injection.Wherein, straight-line electric
Machine 16 is connected with injection pipe supporting mechanism 19, therefore passes through the lifting of linear motor 16, and the spout of injection pipe 3 may be implemented
Height controls, to realize the accurate injection for ignition point.Linear motor retainer 15 and linear motor 16 are rigidly connected, and protect
The fixation of linear motor 16 is demonstrate,proved.Injection pipe fixing device 17 and injection pipe supporting mechanism 19 connect with 3 rigidity of injection pipe respectively
It connects, ensure that stabilization of the injection pipe in course of injection.Injection pipe point device 18 is the movement branch that injection pipe 3 moves up and down
Point.
As shown in Figure 11 Figure 12, monitor portion 4 realizes the monitoring for warehouse, is able to solve and is fixed on ceiling
The incomplete problem of monitoring information caused by the monitoring dead angle of fixed monitoring.Thermal imaging system 22 carries out heat source monitoring, and leads to
The wireless communication module for crossing robot outfit sends the image of thermal imaging system to firefighting of warehouse safety supervision management equipment, not only
Warehouse image information can be provided to firefighting of warehouse security control personnel, while can be provided to firefighting of warehouse security control personnel
Heat source information.Wherein the first steering engine 23 drives the rotation of thermal imaging system 22, when robot is advanced and is gone on patrol, thermal imaging system
22 are not stalling dynamic simultaneously, realize the increase of area of detection.Thermal imaging system bracket 20 and thermal imaging system fixed frame 21 realize
Fixation for thermal imaging system 22.
As shown in Fig. 7, Figure 13, Figure 14, Figure 15, shown OpenMV machine vision module 24 include OpenMV camera 25 with
And OpenMV machine vision module bracket 26, OpenMV machine vision module bracket 26 are bolted on carrier frame 9.
During Daily Round Check, OpenMV machine vision module 24, will be acquired by the identification of line set in road pavement
To visual information be converted into the digital information of angular amount, feed back to the main control part of robot, then pass through main control part pair
The motion control of four Mecanum wheels 7 realizes that robot is advanced along the route set.
During daily inspection, robot passes through Mecanum wheel omnidirectional chassis and OpenMV machine vision mould
The line patrol that block 24 is set along landing ground, while the rotation of thermal imaging system 22 does not stop to monitor, and is equipped with by robot wireless
Communication module sends the image of thermal imaging system 22 to firefighting of warehouse safety supervision management personnel, can not only pacify to firefighting of warehouse
Full supervisor provides warehouse image information, while can provide heat source information to firefighting of warehouse security control personnel.Main control part
Sub-control fire-fighting lamp 6 flashes and sounds an alarm the sound, while caution signal is informed firefighting of warehouse by wireless communication module
Safety supervision personnel.At the same time, chassis omnidirectional moving quickly moves and is moved to ignition point, after reaching ignition point, screw rod electricity
Machine 11 starts turning, and the pressing to the handle of fire extinguisher 10 is realized, while linear motor 16 moves, by the spout pair of injection pipe 3
Quasi- ignition point, then fire extinguisher 10 sprays, and institute's ejecta is projected by injection pipe 3, puts out a fire to kindling point.Thus one is patrolled
The complete procedure for patrolling fire extinguishing terminates.
Embodiment of the present invention are not limited by the above embodiments, other any real without departing from spirit of the invention
The changes, modifications, substitutions, combinations, simplifications done under matter and principle, should be equivalent substitute mode, are included in the present invention
Protection scope within.
Claims (10)
1. a kind of warehouse line walking fire behavior crusing robot based on machine vision module characterized by comprising
The chassis portion (1) of Omni-mobile；
Monitor portion (4) is rotatably arranged on the chassis portion (1), for shooting graphic images；
Spout part (2) is arranged in adjustable angle on the chassis portion (1)；
Fire extinguisher part (5) is fixed on the chassis portion (1) and is detachably connected with the spout part (2)；
OpenMV machine vision module (24), setting is in front of the chassis portion (1), the set line in road pavement
It is identified, chassis portion (1) is made to carry out comprehensive patrol free of discontinuities to warehouse according to the route set；
Part is warned, is fixed on the chassis portion (1), for issuing alarm signal；
Main control part passes through chassis portion described in circuit connection (1), spout part (2), monitor portion (4), fire extinguisher part
(5), warning part, OpenMV machine vision module (24).
2. the warehouse line walking fire behavior crusing robot according to claim 1 based on machine vision module, which is characterized in that
The chassis portion (1) includes motor-driven Mecanum wheel (7), carrier frame (9), is fixed on carrier frame (9)
Fire extinguisher fixed frame (8).
3. the warehouse line walking fire behavior crusing robot according to claim 1 based on machine vision module, which is characterized in that
The warning part point includes fire-fighting lamp (6), and the fire-fighting lamp (6) is by circuit connection main control part, simultaneously for blinking light
And sound an alarm the sound.
4. the warehouse line walking fire behavior crusing robot according to claim 1 based on machine vision module, which is characterized in that
The spout part (2) includes linear motor retainer (15), linear motor (16), injection pipe (3), injection pipe fixing device
(17), injection pipe point device (18), injection pipe supporting mechanism (19), the injection pipe (3) pass through injection pipe fixing device
(17) it is fixed on injection pipe supporting mechanism (19), the rear end of the injection pipe supporting mechanism (19) passes through injection pipe point device
(18) it is movably articulated on chassis portion (1), front end is connected with the vertical output end of linear motor (16), the linear motor
(16) it is fixed on chassis portion (1) by linear motor retainer (15).
5. the warehouse line walking fire behavior crusing robot according to claim 4 based on machine vision module, it is characterised in that:
Injection pipe fixing device (17) includes arc pressuring plate, the door latch type active grab that shape matches with injection pipe (3), described
One end of arc pressuring plate is connected by bolt with injection pipe supporting mechanism (19) side, and the other end passes through door latch type active grab
It is connected with injection pipe supporting mechanism (19) other side.
6. the warehouse line walking fire behavior crusing robot according to claim 1 based on machine vision module, it is characterised in that:
The fire extinguisher part (5) includes fire extinguisher (10), the electronic drive with the handle switch drive connection of the fire extinguisher (10)
Motivation structure, the electric driving mechanism include spindle motor (11), lead screw (12), compress piece (14), are fixed on compression piece (14)
On feed screw nut (13), the spindle motor (11) be fixed at handle switch fixation handle on, the compression piece
(14) it is fixed on the flexible handle of handle switch, one end of the lead screw (12) connects spindle motor (11) output shaft, another
End is matched with feed screw nut (13), the spindle motor (11) and main control part circuit connection.
7. the warehouse line walking fire behavior crusing robot according to claim 1 based on machine vision module, it is characterised in that:
The monitor portion (4) includes thermal imaging system bracket (20), thermal imaging system fixed frame (21), thermal imaging system (22), the first rudder
Machine (23), the thermal imaging system bracket (20) are fixed on chassis portion (1), first steering engine (23) be fixed on it is described heat at
As on instrument bracket (20), the output end of first steering engine (23) is fixedly connected with thermal imaging system fixed frame (21), it is described it is hot at
Picture instrument (22) is fixed on the thermal imaging system fixed frame (21), and the thermal imaging system (22) and the first steering engine (23) pass through circuit
It is connected with main control part.
8. the warehouse line walking fire behavior crusing robot according to claim 6 based on machine vision module, it is characterised in that:
Further include wireless communication module, is set for sending the image of alarm signal and thermal imaging system to firefighting of warehouse safety supervision management
It is standby.
9. the warehouse line walking fire behavior crusing robot according to claim 8 based on machine vision module, it is characterised in that:
The firefighting of warehouse safety supervision management equipment includes mobile monitoring terminal, the monitoring host computer positioned at monitoring room.
10. the warehouse line walking fire behavior crusing robot according to claim 1 based on machine vision module, feature exist
In: the OpenMV machine vision module (24) includes OpenMV camera (25) and OpenMV machine vision module bracket
(26), the OpenMV camera (25) is fixed on OpenMV machine vision module bracket (26) and connects with main control part circuit
It connects, the OpenMV machine vision module bracket (26) is bolted in front of carrier frame (9).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810838498.7A CN109045531A (en) | 2018-07-27 | 2018-07-27 | A kind of warehouse line walking fire behavior crusing robot based on machine vision module |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810838498.7A CN109045531A (en) | 2018-07-27 | 2018-07-27 | A kind of warehouse line walking fire behavior crusing robot based on machine vision module |
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| CN109045531A true CN109045531A (en) | 2018-12-21 |
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| CN201810838498.7A Pending CN109045531A (en) | 2018-07-27 | 2018-07-27 | A kind of warehouse line walking fire behavior crusing robot based on machine vision module |
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| CN109933065A (en) * | 2019-02-21 | 2019-06-25 | 四川阿泰因机器人智能装备有限公司 | A kind of Jing Ping robot electric control method |
| CN110124231A (en) * | 2019-06-18 | 2019-08-16 | 金陵科技学院 | A kind of indoor fire patrol robot of crawler type and application method |
| CN112707150A (en) * | 2021-01-15 | 2021-04-27 | 马悦 | Floor fire extinguisher replacement vehicle |
| US11346938B2 (en) | 2019-03-15 | 2022-05-31 | Msa Technology, Llc | Safety device for providing output to an individual associated with a hazardous environment |
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